Dynamic Modeling of Objects for Robotics Applications

这是研究申请项目中的计划拨款。受复杂机器人环境建模需求的推动，本项目将探索对象建模/表示的新方法。目前的建模系统仅限于表示孤立物体的几何信息，这是远远不够的。为了更有效和提供更多信息，建模系统还应该描述对象的可变方面，即对象状态、对象的功能以及对象之间的相互关系。因此，建议建模应该是动态的和与传感器相关的似乎是合理的。初步的研究和规划活动将集中于动态建模的基础调查和问题识别，其目的是使对感官信息的操作和推理成为建模的一个组成部分，考虑到不确定性。目的是获得对该主题的充分了解，以便进行更实质性的研究。

This is a planning grant in the research application program. Motivated by the need of modeling complex robotic environments, this project will explore new methods on object modeling/representation. Current modeling systems are limited to representing only the geometrical information of isolated objects, which is far less than sufficient. To be more effective and informative, a modeling system should also describe the changeable aspect of an object, i.e., the object states, the functionalities of an object, and the interrelations among objects. It seems, thus, reasonable to propose that modeling should be dynamic and sensor-related. The preliminary research and planning activities will focus on surveying the ground for, and identifying problems of dynamic modeling, which aims to make manipulating and reasoning about sensory information an integrated part of modeling, taking into account uncertainties. The objective is to gain sufficient insight about the subject in order to conduct more substantial research.