BookDOI
Robot Motion Planning and Control
Jean-Paul Laumond
- Iss: 229
TLDR
Guidelines in nonholonomic motion planning for mobile robots and collision detection algorithms for motion planning are presented.Abstract:
Guidelines in nonholonomic motion planning for mobile robots.- Geometry of nonholonomic systems.- Optimal trajectories for nonholonomic mobile robots.- Feedback control of a nonholonomic car-like robot.- Probabilistic path planning.- Collision detection algorithms for motion planning.read more
Citations
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Journal ArticleDOI
Planar Microassembly by Parallel Actuation of MEMS Microrobots
TL;DR: In this article, the authors proposed a parallel micro-robots assembly scheme using stress-engineered MEMS microrobots, which can be controlled to dock compliantly together, forming planar structures several times this size.
Journal ArticleDOI
A feedback control scheme for reversing a truck and trailer vehicle
TL;DR: A control scheme is proposed for stabilization of backward driving along simple paths for a miniaturized vehicle composed of a truck and a two-axle trailer and has been implemented and successfully used to reverse the radio-controlled vehicle.
Book ChapterDOI
Algorithmic motion planning
TL;DR: This chapter will focus on algorithmic motion planning, emphasizing theoretical algorithmic analysis of the problem and seeking worst-case asymptotic bounds, and only mention briefly practical heuristic approaches to the problem.
Journal ArticleDOI
Quasi-static manipulation of a Kirchhoff elastic rod based on a geometric analysis of equilibrium configurations
Timothy Bretl,Zoe McCarthy +1 more
TL;DR: It is proved that the set of all local solutions to a geometric optimal control problem, with boundary conditions that vary with the position and orientation of each gripper, is a smooth manifold of finite dimension that can be parameterized by a single chart.
Improved Mecanum Wheel Design for Omni-directional Robots
TL;DR: Omni-directional is used to describe the ability of a system to move instantaneously in any direction from any configuration as discussed by the authors, and it can be used to perform tasks in environments congested with static and dynamic obstacles and narrow aisles.