@InProceedings{brossette:ram:2013,
  author    = {Brossette, Stanislas and Vaillant, Joris and Keith, Fran{\c c}ois and Escande, Adrien and Kheddar, Abderrahmane},
  title     = {Point-Cloud Multi-Contact Planning for Humanoids: Preliminary Results},
  booktitle = {IEEE International Conference on Robotics, Automation and Mechatronics},
  year      = {2013},
  address   = {Manila, Philippines},
  month     = {November 12-November 15},
  url       = {https://hal-lirmm.ccsd.cnrs.fr/lirmm-00863931/document/},
  keywords  = {Robot sensing systems, Planning, Three-dimensional displays, Solid modeling, Cameras, Surface treatment},
  doi       = {10.1109/RAM.2013.6758553},
  abstract  = {We present preliminary results in porting our multi-contact non-gaited motion planning framework to operate in real environments where the surroundings are acquired using an embedded camera together with a depth map sensor. We consider the robot to have no a priori knowledge of the environment, and propose a scheme to extract the information relevant for planning from an acquired point cloud. This yield the basis of an egocentric on-the-fly multi-contact planner. We then demonstrate its capacity with two simulation scenarios involving an HRP-2 robot in various environment before discussing some issues to be addressed in our quest to achieve a close loop between planning and execution in an environment explored through embedded sensors.}
}