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ICRA
2002
IEEE
160views Robotics» more  ICRA 2002»
10 years 4 months ago
Coordinated Target Assignment and Intercept for Unmanned Air Vehicles
—This paper presents an end-to-end solution to the cooperative control problem represented by the scenario where unmanned air vehicles (UAVs) are assigned to transition through k...
Randal W. Beard, Timothy W. McLain, Michael A. Goo...
ICRA
2002
IEEE
97views Robotics» more  ICRA 2002»
10 years 4 months ago
Obstacle Detection in Smooth High Curvature Terrain
Detection of obstacles for autonomous vehicles is more difficult when the terrain is not locally planar and remains an open problem. We have developed an approach suited for obsta...
Parag H. Batavia, Sanjiv Singh
ICRA
2002
IEEE
120views Robotics» more  ICRA 2002»
10 years 4 months ago
Workspace Optimization of 3-UPU Parallel Platforms with Joint Constraints
In this paper the workspace optimization of translational 3-UPU parallel platforms with prismatic and universal joint constraints is performed. The workspace is parameterized usin...
Mircea Badescu, Jeremy Morman, Constantinos Mavroi...
ICRA
2002
IEEE
188views Robotics» more  ICRA 2002»
10 years 4 months ago
Hybrid Mobile Robot Localization using Switching State-Space Models
—This article describes a rigorous and complete framework for the simultaneous localization and map building problem for mobile robots: the symmetries and perturbations map (SPma...
Haris Baltzakis, Panos E. Trahanias
ICRA
2002
IEEE
123views Robotics» more  ICRA 2002»
10 years 4 months ago
Computing Wrench Cones for Planar Contact Tasks
The successful execution of any contact task fundamentally requires the application of wrenches (forces and moments) consistent with the task. We develop an algorithm for computin...
Devin J. Balkcom, Jeffrey C. Trinkle, E. J. Gottli...
ICRA
2002
IEEE
98views Robotics» more  ICRA 2002»
10 years 4 months ago
Extremal Trajectories for Bounded Velocity Mobile Robots
Previous work [3, 6, 9, 8, 7, 1] has presented the time optimal trajectories for three classes of non-holonomic mobile robots: steered cars that can only go forwards, steered cars...
Devin J. Balkcom, Matthew T. Mason
ICRA
2002
IEEE
78views Robotics» more  ICRA 2002»
10 years 4 months ago
A Sensorless Insertion Strategy for Rigid Planar Parts
The companion paper [2] derives an algorithm that determines the external wrenches consistent with constraints on the contact interactions between two rigid planar bodies. In this...
Devin J. Balkcom, E. J. Gottlieb, Jeffrey C. Trink...
ICRA
2002
IEEE
89views Robotics» more  ICRA 2002»
10 years 4 months ago
Dynamically Tuned Design of the MFI Thorax
This paper presents an analysis of the major mechanical component (the thorax) of the micromechanical flying insect (MFI), a centimeter sized aerial vehicle currently in developm...
Srinath Avadhanula, Robert J. Wood, Domenico Campo...
ICRA
2002
IEEE
110views Robotics» more  ICRA 2002»
10 years 4 months ago
Mobile Robot Localization using an Incremental Eigenspace Model
— When using appearance-based recognition for self-localization of mobile robots, the images obtained during the exploration of the environment need to be efficiently stored in t...
Matej Artac, Matjaz Jogan, Ales Leonardis
ICRA
2002
IEEE
108views Robotics» more  ICRA 2002»
10 years 4 months ago
Real-Time Obstacle Avoidance for Polygonal Robots with a Reduced Dynamic Window
In this paper we present an approach to obstacle avoidance and local path planning for polygonal robots. It decomposes the task into a model stage and a planning stage. The model ...
Kai Oliver Arras, Jan Persson, Nicola Tomatis, Rol...
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