Paper Title: Cart Pushing with a Mobile Manipulation System: Towards Navigation with Moveable Objects

• Authors: Jonathan Scholz, Sachin Chitta, Bhaskara Marthi, Maxim Likhachev
• Forum: ICRA 2011, Shanghai, China

Citation

@inproceedings {Scholz2011,
        title = {Cart Pushing with a Mobile Manipulation System: Towards Navigation with Moveable Objects},
        booktitle = {International Conference on Robotics and Automation},
        series = {},
        year = {2011},
        author = {Jonathan Scholz and Sachin Chitta and Bhaskara Marthi and Maxim Likhachev}
}

Full Text

cart_pushing_icra.pdf

Photos and Video Results

Videos

cart_pushing_icra.mp4

Pictures

The PR2 robot with a cart

An example plan

Documentation

The cart pushing software is mainly self-contained within the cart_pushing stack and has been tested in simulation and on the PR2 against the cturtle ROS distribution.

Instructions for reproducing experiments

Download and Install

Complete instructions on using the cart pushing code are on the cart_pushing stack page.

In Simulation

This tutorial contains complete instructions for running the cart pushing stack in the Stage simulator.

On hardware

This tutorial contains complete instructions for running the cart pushing stack on the PR2, including details of the cart used.

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