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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
Nanorobotic assembly of two-dimensional structures
Aristides A. G. Requicha,C. Baur,Alejandro Bugacov,B. C. Gazen,Bruce E. Koel,Anupam Madhukar,T. R. Ramachandran,R. Resch,Peter Will +8 more
TL;DR: The first steps towards the construction of Nanoelectromechanical systems (NEMS) are described by assembling nanometer-scale objects using a scanning probe microscope as a robot and the underlying technology is described.
Journal ArticleDOI
In-Hand Dexterous Manipulation of Piecewise-Smooth 3-D Objects:
TL;DR: The differential control for finger tracking is described and analyzed and extended to on-line continuous control for a set of cooperating robot fingers and is computationally efficient, exact, and takes into consideration the full dynamics of the system.
Synthesis of tactical plans for robotic excavation
TL;DR: In this article, the authors present an approach to synthesize plans for robotic excavators, where an action space is spanned by parameters that abstract the actions that a robot excavator might perform.
Proceedings ArticleDOI
Continuous path planning with multiple constraints
TL;DR: An auxiliary partial differential equation is proposed with which one can evaluate multiple additive cost metrics for paths which are generated by value functions; solving this auxiliary equation adds little more work to the value function computation.
Book ChapterDOI
Gap navigation trees: Minimal representation for visibility-based tasks
TL;DR: The Gap Navigation Tree is presented, useful for solving different visibility-based robotic tasks in unknown planar environments, and its use for optimal robot navigation in simply- connected environments, locally optimal navigation in multiply-connected environments, pursuit-evasion, and robot localization is presented.