Q. Meng, C. Quintero-Peña, Z. Kingston, V. Unhelkar, and L. E. Kavraki, “Perception-Aware Planning for Robotics: Challenges and Opportunities,” in 40th Anniversary of the IEEE International Conference on Robotics and Automation, 2024.
In this work, we argue that new methods are needed to generate robot motion for navigation or manipulation while effectively achieving perception goals. We support our argument by conducting experiments with a simulated robot that must accomplish a primary task, such as manipulation or navigation, while concurrently monitoring an object in the environment. Our preliminary study demonstrates that a decoupled approach fails to achieve high success in either action-focused motion generation or perception goals, motivating further developments of approaches that holistically consider both goals.
PDF preprint: http://kavrakilab.org/publications/meng2024-review.pdf