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ICRA
2000
IEEE
104views Robotics» more  ICRA 2000»
9 years 4 months ago
Social Potentials for Scalable Multi-Robot Formations
Potential function approaches to robot navigation provide an elegant paradigm for expressing multiple constraints and goals in mobile robot navigation problems 9]. As an example, ...
Tucker R. Balch, Maria Hybinette
ICRA
2000
IEEE
92views Robotics» more  ICRA 2000»
9 years 4 months ago
Time Optimal Trajectories for Bounded Velocity Differential Drive Robots
A differential drive robot is perhaps the simplest type of mobile robot, and the bounded velocity model is perhaps the simplest useful model of the admissible controls. This paper...
Devin J. Balkcom, Matthew T. Mason
ICRA
2000
IEEE
94views Robotics» more  ICRA 2000»
9 years 4 months ago
Extremal Trajectories for Bounded Velocity Differential Drive Robots
This paper applies Pontryagin’s Maximum Principle to the time optimal control of differential drive mobile robots with velocity bounds. The Maximum Principle gives necessary con...
Devin J. Balkcom, Matthew T. Mason
ICRA
2000
IEEE
91views Robotics» more  ICRA 2000»
9 years 4 months ago
Robotics in Edutainment
Minoru Asada, Raffaello D'Andrea, Andreas Birk 000...
ICRA
2000
IEEE
109views Robotics» more  ICRA 2000»
9 years 4 months ago
Passivity-Based Control
Suguru Arimoto
ICRA
2000
IEEE
108views Robotics» more  ICRA 2000»
9 years 4 months ago
Deformable Volumes in Path Planning Applications
This paper addresses the problem of path planning for a class of deformable volumes under fairly general manipulation constraints. The underlying geometric model for the volume is...
Elliot Anshelevich, Scott Owens, Florent Lamiraux,...
ICRA
2000
IEEE
102views Robotics» more  ICRA 2000»
9 years 4 months ago
Visual Servoing from Lines
In this paper we present a new approach to visual servoing using lines. It is based on a theoretical and geometrical study of the main line representations which allows us to deď¬...
Nicolas Andreff, Bernard Espiau, Radu Horaud
ICRA
2000
IEEE
121views Robotics» more  ICRA 2000»
9 years 4 months ago
Stable Haptic Interaction Using the Excalibur Force Display
Creating a compelling haptic sense of immersion in a virtual environment is a challenging task for the control engineer. A haptic display must render both low impedance free-space...
Richard J. Adams, Daniel Klowden, Blake Hannaford
ICRA
2000
IEEE
109views Robotics» more  ICRA 2000»
9 years 4 months ago
Computing the Sensory Uncertainty Field of a Vision-Based Localization Sensor
—Recently it has been recognized that robust motion planners should take into account the varying performance of localization sensors across the configuration space. Although a n...
Amit Adam, Ehud Rivlin, Ilan Shimshoni
ICRA
2000
IEEE
118views Robotics» more  ICRA 2000»
9 years 4 months ago
4-D/RCS Reference Model Architecture for Unmanned Ground Vehicles
4-D/RCS is the reference model architecture currently being developed for the Demo III Experimental Unmanned Vehicle program. 4-D/RCS integrates the NIST (National Institute of St...
James S. Albus
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