ICRA 2000 - PDF Preprint Papers

ICRA 2000 International Conference on Robotics and Automation

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ICRA
2000
IEEE

441views Robotics» more ICRA 2000»

Enhanced Mars Rover Navigation Techniques

13 years 9 months ago

Download www-robotics.jpl.nasa.gov

Robust navigation through rocky terrain by small mobile robots is important for maximizing science return from upcoming missions to Mars. We are addressing this problem at multipl...

Richard Volpe, Tara A. Estlin, Sharon L. Laubach, ...

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Id	Views	Title	Status

1	441	Enhanced Mars Rover Navigation Techniques	claim
2	236	A General Learning Approach to Multisensor Based Control using Statistic Indices	claim
3	236	Line Segment Based Map Building and Localization Using 2D Laser Rangefinder	claim
4	207	Calibration of a Motoman P8 Robot Based on Laser Tracking	claim
5	192	Robust Localization for 3D Object Recognition Using Local EGI and 3D Template Matching with M-Estimators	claim
6	186	3D Motion Tracking of a Mobile Robot in a Natural Environment	claim
7	180	Interactive Motion Planning Using Hardware-Accelerated Computation of Generalized Voronoi Diagrams	claim
8	176	RRT-Connect: An Efficient Approach to Single-Query Path Planning	claim
9	165	An Approach to Rapid Manufacturing with Custom Fixturing	claim
10	163	The Anthropomorphic Biped Robot BIP2000	claim
11	162	A New Local Path Planner for Nonholonomic Mobile Robot Navigation in Cluttered Environments	claim
12	162	VFH*: Local Obstacle Avoidance with Look-Ahead Verification	claim
13	150	Path Planning in Image Space for Robust Visual Servoing	claim
14	147	Chaos Dynamics in the Trajectory Control of Redundant Manipulators	claim
15	145	Feature Based Condensation for Mobile Robot Localization	claim
16	144	Automatic Identification of Local Geometric Properties During Teleoperation	claim
17	142	Automated CAD-Guided Automobile Part Dimensional Inspection	claim
18	141	Haptic Rendering of Planar Rigid-Body Motion using a Redundant Parallel Mechanism	claim
19	141	An Analytical Method to Eliminate the Redundant Parameters in Robot Calibration	claim
20	141	A Human-Robot Interface Using an Interactive Hand Pointer that Projects a Mark in the Real Work Space	claim
21	140	Constrained Force Control of Shape Memory Alloy Actuators	claim
22	139	Isotropy and Actuator Optimization in Haptic Interface Design	claim
23	139	Appearance-Based Place Recognition for Topological Localization	claim
24	136	Registration of Range Data Using a Hybrid Simulated Annealing and Iterative Closest Point Algorithm	claim
25	136	Recent Progress in Local and Global Traversability for Planetary Rovers	claim
26	133	Haptic Interface Control - Design Issues and Experiments with a Planar Device	claim
27	132	Neural Network Based Target Differentiation using Sonar for Robotics Applications	claim
28	132	Design of a 5-cm Monopod Hopping Robot	claim
29	130	Design and Actuation Optimization of a 4 Axes Biped Robot for Walking and Running	claim
30	130	Beyond Range Sensing: XYZ-RGB Digitizing and Modeling	claim
31	129	Data Association for Mobile Robot Navigation: A Graph Theoretic Approach	claim
32	128	Visually Guided Coordination for Distributed Precision Assembly	claim
33	128	Design of a Teleoperation Controller for an Underwater Manipulator	claim
34	128	A Compliant Tactile Display for Teletaction	claim
35	127	Design, Experiments and Motion Planning of a Spherical Rolling Robot	claim
36	126	Identification and Decoupling Control of Flexure Jointed Hexapods	claim
37	125	Force-Based Motion Editing for Locomotion Tasks	claim
38	125	Motion-Decoupled Internal Force Control in Grasping with Visco-Elastic Contacts	claim
39	125	Controlling a Multijoint Robot for Autonomous Sewer Inspection	claim
40	125	Underwater Robotics	claim
41	125	Haptic Interaction with Global Deformations	claim
42	124	Local Search Heuristics for the Assembly Line Balancing Problem with Incompatibilities Between Tasks	claim
43	124	The Augmented Object Model: Cooperative Manipulation and Parallel Mechanism Dynamics	claim
44	124	Vision-Based Dynamic Estimation and Set-Point Stabilization of Nonholonomic Vehicles	claim
45	124	Design of a Cricket Microrobot	claim
46	123	Design, Modeling and Preliminary Control of a Compliant Hexapod Robot	claim
47	122	Application of a Model-Free Algorithm for the Packing of Irregular Shaped Objects in Semiconductor Manufacture	claim
48	121	Stable Haptic Interaction Using the Excalibur Force Display	claim
49	121	2 1/2 D Visual Servoing: A Possible Solution to Improve Image-Based and Position-Based Visual Servoings	claim
50	121	Using Multiple Gaussian Hypotheses to Represent Probability Distributions for Mobile Robot Localization	claim
51	120	An Algebraic Solution to the Problem of Collision Detection for Rigid Polyhedral Objects	claim
52	120	Instantaneous Evaluation of Friction Based on ARTC Tactile Sensor	claim
53	120	Biomechanics and Simulation of Cricket for Microrobot Design	claim
54	118	4-D/RCS Reference Model Architecture for Unmanned Ground Vehicles	claim
55	118	Optimal Feedback Control for Route Tracking with a Bounded-Curvature Vehicle	claim
56	117	Practical Mobile Robot Self-Localization	claim
57	117	Kinodynamic Motion Planning Amidst Moving Obstacles	claim
58	116	Interception of a Projectile Using a Human Vision-Based Strategy	claim
59	116	Underwater Robotics: Out of the Research Laboratory and Into the Field	claim
60	115	Virtual Obstacle Concept for Local-Minimum Recovery in Potential-Field Based Navigation	claim
61	114	In-Situ Attitude Calibration for High Resolution Bathymetric Surveys with Underwater Robotic Vehicles	claim
62	113	Adaptive Dynamic Walking of the Quadruped on Irregular Terrain - Autonomous Adaptation Using Neural System Model	claim
63	113	PADyC: A Synergistic Robot for Cardiac Puncturing	claim
64	112	Visual Tracking with Subpixel Resolution using an Analog VLSI Computational Sensor	claim
65	111	Architecture, the Backbone of Robotic Systems	claim
66	111	Learning Globally Consistent Maps by Relaxation	claim
67	111	Interpretation of Sewer Circular Structures	claim
68	110	An Implicit Time-Stepping Scheme for Rigid Body Dynamics with Coulomb Friction	claim
69	109	Computing the Sensory Uncertainty Field of a Vision-Based Localization Sensor	claim
70	109	Passivity-Based Control	claim
71	109	Collaborative Multi-Robot Exploration	claim
72	108	Deformable Volumes in Path Planning Applications	claim
73	108	Controllability of Single Input Rolling Manipulation	claim
74	108	High Accuracy Navigation Using Laser Range Sensors in Outdoor Applications	claim
75	106	Toward Biomorphic Control Using Custom aVLSI CPG Chips	claim
76	106	Planning of Joint Trajectories for Humanoid Robots Using B-Spline Wavelets	claim
77	106	The Kinematics for Redundantly Actuated Omni-Directional Mobile Robots	claim
78	105	Modeling and Throughput Prediction for Flexible Parts Feeders	claim
79	104	Social Potentials for Scalable Multi-Robot Formations	claim
80	104	Human Tactile Spatial Sensitivity for Tactile Feedback	claim
81	103	Multirate Simulation for High Fidelity Haptic Interaction with Deformable Objects in Virtual Environments	claim
82	103	Invariant Filtering for Simultaneous Localization and Mapping	claim
83	103	An Eigenscrew Analysis of Mechanism Compliance	claim
84	102	Visual Servoing from Lines	claim
85	102	Evaluating Control Modes for Constrained Robotic Surgery	claim
86	102	Experimental Evaluation of a Robotic Image-Directed Radiation Therapy System	claim
87	102	Deformation Transition Graphs in Forming Operations of Rheological Objects	claim
88	101	Towards Programming Tools for Robots that Integrate Probabilistic Computation and Learning	claim
89	100	Collaborative Teleoperation via the Internet	claim
90	100	Mobile Manipulation of Humanoids: Real-Time Control Based on Manipulability and Stability	claim
91	100	Robots Can Teach People How to Move Their Arm	claim
92	99	Exact Cellular Decompositions in Terms of Critical Points of Morse Functions	claim
93	99	DSP-Based Controller for a Multi-Degree Prosthetic Hand	claim
94	99	Sensor Resetting Localization for Poorly Modelled Mobile Robots	claim
95	98	Quadruped Trotting with Passive Knees - Design, Control, and Experiments	claim
96	98	Active Measurement of Contact Sounds	claim
97	96	Fault Detection for Robot Manipulators with Parametric Uncertainty: A Prediction Error Based Approach	claim
98	96	Coordinated Trajectory Following for Mobile Manipulation	claim
99	96	Robot Dynamics: Equations and Algorithms	claim
100	96	Hugging Walk	claim
101	96	Design of Synchronized Supply Chains: A Six Sigma Tolerancing Approach	claim
102	95	A New Redundancy-Based Iterative Scheme for Avoiding Joint Limits Application to Visual Servoing	claim
103	95	Experiments on Augmenting Condensation for Mobile Robot Localization	claim
104	95	Designing with Haptic Feedback	claim
105	95	Design of Steering Mechanism and Control of Nonholonomic Trailer Systems	claim
106	95	Precision-Calibration of Fiber-Optics Gyroscopes for Mobile Robot Navigation	claim
107	94	Extremal Trajectories for Bounded Velocity Differential Drive Robots	claim
108	94	Optical Coordination Sensor for Precision Cooperating Robots	claim
109	94	Stable Running in a Quadruped Robot with Compliant Legs	claim
110	94	Structural Design and Analysis of a New Semi-Direct Drive Robot Arm: Theory and Experiment	claim
111	93	Scheduling and Coordination in Manufacturing Enterprise Automation	claim
112	93	Grasping Curved Objects through Rolling	claim
113	93	Human Augmentation in Teleoperation of Arm Manipulators in an Environment with Obstacles	claim
114	93	Nonholonomic Motion Planning for Mobile Manipulators	claim
115	92	Time Optimal Trajectories for Bounded Velocity Differential Drive Robots	claim
116	92	Action Module Planning and its Application to an Experimental Climbing Robot	claim
117	92	Robot Improv: Using Drama To Create Believable Agents	claim
118	92	Flexible Robot-Assembly using a Multi-Sensory Approach	claim
119	92	Symbolic Representation of Trajectories for Skill Generation	claim
120	92	Rapid Prototyping of Robotic Systems	claim
121	92	A Physical Implementation of the Self-Reconfiguring Crystalline Robot	claim
122	91	Robotics in Edutainment	claim
123	91	Design, Architecture and Control of a Mobile Site-Modeling Robot	claim
124	91	Mechanism Synthesis Theory and the Design of Robots	claim
125	91	Bayesian Estimation and Kalman Filtering: A Unified Framework for Mobile Robot Localization	claim
126	91	PolyBot: A Modular Reconfigurable Robot	claim
127	90	Effective Vehicle Teleoperation on the World Wide Web	claim
128	90	On the Nonlinear Control of Hydraulic Servo-Systems	claim
129	90	Mechatronic Design of a Modular Self-Reconfiguring Robotic System	claim
130	89	A Localization Method Based on Two Omnidirectional Perception Systems Cooperation	claim
131	89	A Leaping Maneuver for a Brachiating Robot	claim
132	89	A Robotic Stepper for Retraining Locomotion in Spinal-Injured Rodents	claim
133	88	Disturbance Observer-Based Robust Control for Underwater Robotic Systems with Passive Joints	claim
134	88	Incremental Optimization of Cyclic Timed Event Graphs	claim
135	88	Uncertainty Reduction Using Dynamics	claim
136	87	Emergent Structures in Modular Self-Reconfigurable Robots	claim
137	86	Randomized Planning for Short Inspection Paths	claim
138	86	A Minimally Actuated Hopping Rover for Exploration of Celestial Bodies	claim
139	86	Forward Dynamics Algorithms for Multibody Chains and Contact	claim
140	85	Using Haptic Vector Fields for Animation Motion Control	claim
141	85	Neural Network Controller for Constrained Robot Manipulators	claim
142	85	Designing Motion Guides for Ergonomic Collaborative Manipulation	claim
143	85	An Overview of Dexterous Manipulation	claim
144	85	TerminatorBot: A Robot with Dual-Use Arms for Manipulation and Locomotion	claim
145	85	Fine-Scale Seafloor Survey in Rugged Deep-Ocean Terrain with an Autonomous Robot	claim
146	84	Enhancing Randomized Motion Planners: Exploring with Haptic Hints	claim
147	83	A Framework for Using the Workspace Medial Axis in PRM Planners	claim
148	83	Using Model Checking to Guarantee Safety in Automatically-Synthesized Real-Time Controllers	claim
149	83	Force Controllable Hydro-Elastic Actuator	claim
150	82	Robot Assisted Standing-Up	claim
151	81	A Miniature Robotic System for Reconnaissance and Surveillance	claim
152	80	Workspace Analysis of the ParaDex Robot - A Novel, Closed-Chain, Kinematically-Redundant Manipulator	claim
153	78	Kinematic Control of the Mass Properties of Redundant Articulated Bodies	claim
154	78	Active Multi-Model Control for Dynamic Maneuver Optimization of Unmanned Air Vehicles	claim
155	78	Real-Time Robot Learning with Locally Weighted Statistical Learning	claim
156	78	Hybrid System Design for Singularityless Task Level Robot Controllers	claim
157	77	Unknown Object Grasping Using Statistical Pressure Models	claim
158	77	Fast and Efficient Incremental Learning for High-Dimensional Movement Systems	claim
159	77	Supervised Linear Feature Extraction for Mobile Robot Localization	claim
160	76	Cooperative Coverage of Rectilinear Environments	claim
161	75	A Multi-Robot Cooperative Task Achievement System	claim
162	74	Friendly Interface for Objects Selection in a Robotized Kitchen	claim
163	73	Environment Delay in Haptic Systems	claim
164	73	Stability Characterizations of Fixtured Rigid Bodies with Coulomb Friction	claim
165	72	Rover Maneuvering for Autonomous Vision-Based Dexterous Manipulation	claim
166	71	Velocity Dependence of the Characteristics of Harmonic Drive Built-in Torque Sensing	claim
167	71	Manufacturing Modeling using Process Nets with Resources	claim
168	71	Dynamic Simulation for Grasping and Whole Arm Manipulation	claim
169	70	Self-Calibration Using the Linear Projective Reconstruction	claim
170	69	Combination of Model-Based and Reactive Methods in Autonomous Navigation	claim
171	69	A Sufficient Condition for Manipulation of Envelope Family	claim
172	69	Fully Programmable MEMS Ciliary Actuator Arrays for Micromanipulation Tasks	claim
173	68	Integration of Range and Image Sensing for Photorealistic 3D Modeling	claim
174	68	On Satellite Vision-Aided Robotics Experiment	claim
175	67	Path Planning Using Lazy PRM	claim
176	66	Stabilizing and Robustifying the Error Backpropagation Method in Neurocontrol Applications	claim
177	66	Eye-in-Hand/Eye-to-Hand Cooperation for Visual Servoing	claim
178	62	Design and Implementation of a Robot Assisted Crucible Charging System	claim
179	61	On Specifying and Performing Visual Tasks with Qualitative Object Models	claim
180	58	Joint Coupled Compensation Effects in Visually Servoed Tracking	claim

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