Supporting data for the "Temporal, Spatial, and Logical Modeling in Robotic Motion Planning" Ph.D. thesis

This zip file serves as supporting data for the "Temporal, Spatial, and Logical Modeling in Robotic Motion Planning" Ph.D. thesis. The first part is about the humanoid robot locomotion task, which is about Chapter 3 "Perceptive Motion Reference for Environmental Uncertainty". The second part is related to mobile manipulation for a static environment in the world coordinate system (Chapter 2 "Perceptive Motion Reference for Configuration Uncertainty") and movable objects in the tool coordinate system (Chapter 4 "Non-Vector Space State Representation for Task Uncertainty" and Chapter 5 "Optimal Perceptive Motion Planning in Non-Vector Space").The source code and accordingly, experimental data are included. The experimental data is plotted by the rqt_plot tool. The required software to replay the rosbag for rostopic data is ROS in Ubuntu 20.04.

本压缩文件为“机器人运动规划中的时序、空间和逻辑建模”博士论文提供辅助数据。首部分涉及类人形机器人运动任务，具体涵盖第三章“感知运动参考对环境不确定性的影响”。第二部分与静态环境中的移动操作相关，涉及世界坐标系中的操作（第二章“感知运动参考对配置不确定性的影响”）以及工具坐标系中的可移动对象（第四章“非向量空间状态表示对任务不确定性的影响”和第五章“非向量空间中的最优感知运动规划”）。源代码及其相应的实验数据均包含在内。实验数据由rqt_plot工具进行绘图。要回放rosbag以获取rostopic数据，所需的软件为Ubuntu 20.04系统中的ROS。