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International Conference on Robotics and Automation

About: International Conference on Robotics and Automation is an academic conference. The conference publishes majorly in the area(s): Robot & Mobile robot. Over the lifetime, 34210 publication(s) have been published by the conference receiving 1128316 citation(s). more

Topics: Robot, Mobile robot, Motion planning more

Open accessProceedings Article
Morgan Quigley1Institutions (1)
01 Jan 2009-
Abstract: This paper gives an overview of ROS, an opensource robot operating system. ROS is not an operating system in the traditional sense of process management and scheduling; rather, it provides a structured communications layer above the host operating systems of a heterogenous compute cluster. In this paper, we discuss how ROS relates to existing robot software frameworks, and briefly overview some of the available application software which uses ROS. more

Topics: Robot software (55%), Open-source robotics (54%)

7,367 Citations

Proceedings ArticleDOI: 10.1109/CACSD.2004.1393890
02 Sep 2004-
Abstract: The MATLAB toolbox YALMIP is introduced. It is described how YALMIP can be used to model and solve optimization problems typically occurring in systems and control theory. In this paper, free MATLAB toolbox YALMIP, developed initially to model SDPs and solve these by interfacing eternal solvers. The toolbox makes development of optimization problems in general, and control oriented SDP problems in particular, extremely simple. In fact, learning 3 YALMIP commands is enough for most users to model and solve the optimization problems more

Topics: Optimization problem (51%)

7,174 Citations

Open accessJournal ArticleDOI: 10.1109/JRA.1986.1087032
Rodney A. Brooks1Institutions (1)
01 Mar 1986-
Abstract: A new architecture for controlling mobile robots is described. Layers of control system are built to let the robot operate at increasing levels of competence. Layers are made up of asynchronous modules that communicate over low-bandwidth channels. Each module is an instance of a fairly simple computational machine. Higher-level layers can subsume the roles of lower levels by suppressing their outputs. However, lower levels continue to function as higher levels are added. The result is a robust and flexible robot control system. The system has been used to control a mobile robot wandering around unconstrained laboratory areas and computer machine rooms. Eventually it is intended to control a robot that wanders the office areas of our laboratory, building maps of its surroundings using an onboard arm to perform simple tasks. more

Topics: Robot control (70%), Mobile robot (67%), Social robot (61%) more

7,154 Citations

Journal ArticleDOI: 10.1109/JRA.1987.1087109
Roger Y. Tsai1Institutions (1)
01 Aug 1987-
Abstract: A new technique for three-dimensional (3D) camera calibration for machine vision metrology using off-the-shelf TV cameras and lenses is described. The two-stage technique is aimed at efficient computation of camera external position and orientation relative to object reference coordinate system as well as the effective focal length, radial lens distortion, and image scanning parameters. The two-stage technique has advantage in terms of accuracy, speed, and versatility over existing state of the art. A critical review of the state of the art is given in the beginning. A theoretical framework is established, supported by comprehensive proof in five appendixes, and may pave the way for future research on 3D robotics vision. Test results using real data are described. Both accuracy and speed are reported. The experimental results are analyzed and compared with theoretical prediction. Recent effort indicates that with slight modification, the two-stage calibration can be done in real time. more

Topics: Camera resectioning (62%), Pinhole camera model (59%), Machine vision (57%) more

5,771 Citations

Open accessJournal ArticleDOI: 10.1109/70.508439
01 Aug 1996-
Abstract: A new motion planning method for robots in static workspaces is presented. This method proceeds in two phases: a learning phase and a query phase. In the learning phase, a probabilistic roadmap is constructed and stored as a graph whose nodes correspond to collision-free configurations and whose edges correspond to feasible paths between these configurations. These paths are computed using a simple and fast local planner. In the query phase, any given start and goal configurations of the robot are connected to two nodes of the roadmap; the roadmap is then searched for a path joining these two nodes. The method is general and easy to implement. It can be applied to virtually any type of holonomic robot. It requires selecting certain parameters (e.g., the duration of the learning phase) whose values depend on the scene, that is the robot and its workspace. But these values turn out to be relatively easy to choose, Increased efficiency can also be achieved by tailoring some components of the method (e.g., the local planner) to the considered robots. In this paper the method is applied to planar articulated robots with many degrees of freedom. Experimental results show that path planning can be done in a fraction of a second on a contemporary workstation (/spl ap/150 MIPS), after learning for relatively short periods of time (a few dozen seconds). more

Topics: Probabilistic roadmap (67%), Any-angle path planning (59%), Mobile robot (56%) more

4,454 Citations

No. of papers from the Conference in previous years

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Conference's top 5 most impactful authors

Roland Siegwart

213 papers, 11.5K citations

Vijay Kumar

186 papers, 15.1K citations

Toshio Fukuda

164 papers, 4.1K citations

Daniela Rus

106 papers, 5K citations

Wolfram Burgard

92 papers, 10.9K citations

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