An Architecture for Online Affordance-based Perception and Whole-body Planning

Maurice Fallon, Scott Kuindersma, Sisir Karumanchi, Matthew Antone, Toby Schneider, Hongkai Dai, Claudia Pérez D’Arpino, Robin Deits, Matt DiCicco, Dehann Fourie, Twan Koolen, Pat Marion, Michael Posa, Andrés Valenzuela, Kuan-Ting Yu, Julie Shah, Karl Iagnemma, Russ Tedrake, and Seth Teller

Abstract

@article{Fallon2015,
  author = {Fallon, Maurice and Kuindersma, Scott and Karumanchi, Sisir and Antone, Matthew and Schneider, Toby and Dai, Hongkai and D'Arpino, Claudia P{\'{e}}rez and Deits, Robin and DiCicco, Matt and Fourie, Dehann and Koolen, Twan and Marion, Pat and Posa, Michael and Valenzuela, Andr{\'{e}}s and Yu, Kuan-Ting and Shah, Julie and Iagnemma, Karl and Tedrake, Russ and Teller, Seth},
  doi = {10.1002/rob.21546},
  journal = {Journal of Field Robotics (JFR)},
  month = mar,
  number = {2},
  pages = {229--254},
  title = {{An Architecture for Online Affordance-based Perception and Whole-body Planning}},
  url = {http://doi.wiley.com/10.1002/rob.21546},
  volume = {32},
  year = {2015}
}