scispace - formally typeset
Search or ask a question

Showing papers by "Rajeev Sharma published in 1994"


Proceedings ArticleDOI
16 Aug 1994
TL;DR: By using a simple, yet powerful computation technique that is based on dynamic programming, the authors can numerically compute optimal robot strategies for a wide class of problems, surpassing previous results in this context that were obtained analytically.
Abstract: Presents a framework for analyzing and determining robot motion plans for situations in which the robot is affected by an environment that probabilistically changes over time. In general, motion planning under uncertainty has received substantial interest, and in particular a changing-environment has been recognized as an important aspect of motion planing under uncertainty. The authors model the environment as a finite-state Markov process, and the robot executes a motion strategy that is conditioned on its current position and the state of the environment. Optimality of a robot strategy is evaluated in terms of a performance functional that depends on the environment, robot actions, and a precise encoding of relevant preferences. By using a simple, yet powerful computation technique that is based on dynamic programming, the authors can numerically compute optimal robot strategies for a wide class of problems, surpassing previous results in this context that were obtained analytically. Several computed motion planning examples are presented. >

33 citations


Proceedings ArticleDOI
08 May 1994
TL;DR: A measure of "observability" of robot motion that can be used in evaluating a hand/eye set-up with respect to the ease of achieving vision-based control is defined.
Abstract: Defines a measure of "observability" of robot motion that can be used in evaluating a hand/eye set-up with respect to the ease of achieving vision-based control. This extends the analysis of "manipulability" of a robotic mechanism in Yoshikawa (1983) to incorporate the effect of visual features. The authors discuss how the observability measure can be applied for active camera placement and for robot trajectory planning to improve the visual servo control. The authors use the examples of a planar 2-DOF arm and a PUMA-type 3-DOF arm to show the variation of the observability and manipulability measure with respect to the relative position of the active camera. >

32 citations