ICRA
2002
IEEE
13 years 9 months ago
2002
IEEE
—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...
ICRA
2002
IEEE
13 years 9 months ago
2002
IEEE
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...
ICRA
2002
IEEE
13 years 9 months ago
2002
IEEE
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...
ICRA
2002
IEEE
13 years 9 months ago
2002
IEEE
—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...
ICRA
2002
IEEE
13 years 9 months ago
2002
IEEE
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...
ICRA
2002
IEEE
13 years 9 months ago
2002
IEEE
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...
ICRA
2002
IEEE
13 years 9 months ago
2002
IEEE
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...
ICRA
2002
IEEE
13 years 9 months ago
2002
IEEE
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...
ICRA
2002
IEEE
13 years 9 months ago
2002
IEEE
— 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...
ICRA
2002
IEEE
13 years 9 months ago
2002
IEEE
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 ...