Mobile manipulators always need to determine
feasible base positions prior to carrying out navigation-manipulation tasks. Real-world environments are often clut
tered with various furniture, obstacles, and dozens of other
objects. Efficiently computing base positions poses a challenge.
In this work, we introduce a framework named MoMa-Pos to
address this issue. MoMa-Pos first learns to predict a small set
of objects that, taken together, would be sufficient for finding
base positions using a graph embedding architecture
MoMa-Pos then calculates standing positions by considering furniture
structures, robot models, and obstacles comprehensively. We
have extensively evaluated the proposed MoMa-Pos across
different settings (e.g., environment and algorithm parameters)
and with various mobile manipulators. Our empirical results
show that MoMa-Pos demonstrates remarkable effectiveness
and efficiency in its performance, surpassing the methods in
the literature.
In this work, we demonstrated that MoMa-Pos effectively identifies feasible positions for navigation-manipulation tasks. We conclude by acknowledging the limitations of our study, reflecting on the implications of our findings, and highlighting opportunities for future research. A significant limitation we encountered is the lack of discussion on the performance of MoMa-Pos with inaccurate simulation models. In the real world, encountering inaccurate models is common, despite the remarkable advancements in computer vision and 3D modeling technologies. We have not explored whether MoMa-Pos’s performance, particularly in terms of task execution time, would deteriorate under such conditions. Theoretically, MoMa-Pos should still be able to find feasible positions, as we have demonstrated its completeness. Another constraint of the current framework is the inability of certain critical parameters, such as α, to adapt automatically. Moving forward, we aim to address these limitations to enhance MoMa-Pos’s performance further.
We have shown that MoMa-Pos effectively identifies viable positions for navigation-manipulation tasks. Acknowledging the limitations of our research, we reflect on our findings' implications and highlight future research opportunities. One notable limitation is the absence of analysis on MoMa-Pos's performance with imprecise simulation models, a common issue despite advances in computer vision and 3D modeling. We have yet to investigate if MoMa-Pos's task execution time is adversely affected under such conditions. However, our results suggest MoMa-Pos can reliably identify feasible positions. Another limitation is the framework's inability to automatically adjust critical parameters, like α. Future efforts will focus on overcoming these challenges to improve MoMa-Pos's efficacy.
@article{shao2024integrating,
title={MoMa-Pos: Where Should Mobile Manipulators Stand in Cluttered Environment Before Task Execution?},
author={Shao, Beichen and Ding, Yan and Wang, Xingchen and Xie, Xuefeng and Gu, Fuqiang and Luo, Jun and Chen, Chao},
journal={arXiv preprint arXiv:2403.19940},
year={2024}
}