DESIGN OF A SIMULATION FRAMEWORK FOR POMDP BASED AUTONOMOUS OBJECT GRASPING WITH A MOBILE ROBOT MANIPULATOR

Abstract

The ALARIS laboratory is developing a mobile manipulator for POMDP-base object grasping tasks. It is necessary to develop a simulation environment for testing purposes. However, the task can be repeated using different robotic platforms after the completion of the project. As a result, it was decided to develop a simulation framework that meets the requirements of the project. The requirements for such a framework were defined through the analysis of the resources with similar setups and goals. These works were collected through a systematic literature review. With the combination of the requirements from the initial project and the ones obtained from the literature, the simulation framework was designed, developed, and tested.