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Robot Motion Planning
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TLDR
This chapter discusses the configuration space of a Rigid Object, the challenges of dealing with uncertainty, and potential field methods for solving these problems.Abstract:
1 Introduction and Overview.- 2 Configuration Space of a Rigid Object.- 3 Obstacles in Configuration Space.- 4 Roadmap Methods.- 5 Exact Cell Decomposition.- 6 Approximate Cell Decomposition.- 7 Potential Field Methods.- 8 Multiple Moving Objects.- 9 Kinematic Constraints.- 10 Dealing with Uncertainty.- 11 Movable Objects.- Prospects.- Appendix A Basic Mathematics.- Appendix B Computational Complexity.- Appendix C Graph Searching.- Appendix D Sweep-Line Algorithm.- References.read more
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Proceedings ArticleDOI
Planning collision-free reaching motions for interactive object manipulation and grasping
TL;DR: This is, to the authors' knowledge, the first time probabilistic planning techniques are used to automatically generate collision-free reaching motions involving the entire body of a human-like character at interactive frame rates.
Journal ArticleDOI
REAL: a virtual laboratory for mobile robot experiments
Eliane G. Guimarães,A.T. Maffeis,J. Pereira,B. Russo,Eleri Cardozo,Marcel Bergerman,Mauricio Ferreira Magalhães +6 more
TL;DR: This paper presents REAL (Remotely Accessible Laboratory), a virtual laboratory accessible through the Internet that employs a sophisticated access framework, a communication infrastructure able to support multimedia flows, and a component-based software construction.
Journal ArticleDOI
An efficient on-line path planner for outdoor mobile robots
TL;DR: It is shown how the use of framed-quadtrees leads to paths that are shorter and more direct than when other representations are used, and the results indicate that, as would be expected, starting with partial information is better than starting with no information.
Proceedings ArticleDOI
Task-driven Tactile Exploration
TL;DR: A decision-theoretic approach to problems that require accurate placement of a robot relative to an object in the world, including grasping and insertion, by selecting among grasping and information-gathering trajectories.
Journal ArticleDOI
Intelligent robot deburring using adaptive fuzzy hybrid position/force control
Feng-Yi Hsu,Li-Chen Fu +1 more
TL;DR: The proposed adaptive fuzzy controller using B-spline type membership functions can compensate the uncertainties in a much smoother and locally weighted manner and consequently guarantee global stability of closed-loop systems.