Fig. 12
From: A development cycle for automated self-exploration of robot behaviors
Reach cognitive core for two robotic systems. Left: End effector trajectories generated by sampling from the reach core of a 3-DOF arm (red lines) are shown with the requested target area of the behavior (red ball) at (x,y,z)=(0.1,0.3,0.2) m. For comparison, samples from the unconstrained reach cognitive core - without the constraint on directness - are plotted in green. Right: Same as left, but for a wheeled mobile base, with a target location at (x,y,z)=(−1,1,0) m