ICRA
2007
IEEE
13 years 11 months ago
2007
IEEE
Abstract— Creatively misquoting Thomas Hobbes, the process of software debugging is nasty, brutish, and all too long. This holds all the more true in robotics, which frequently i...
ICRA
2007
IEEE
13 years 11 months ago
2007
IEEE
— We introduce the Oracular Partially Observable Markov Decision Process (OPOMDP), a type of POMDP in which the world produces no observations; instead there is an “oracle,” ...
ICRA
2007
IEEE
13 years 11 months ago
2007
IEEE
— In this work we examine the control of center of mass and swing leg trajectories in LittleDog, a point-foot quadruped robot. It is not clear how to formulate a function to comp...
ICRA
2007
IEEE
13 years 11 months ago
2007
IEEE
— This paper presents two methods able to exploit the information at the loop closure in the SLAM problem. Both methods have three fundamental advantages. The first one is that ...
ICRA
2007
IEEE
13 years 11 months ago
2007
IEEE
— This paper describes a new extension to the Rapidly–exploring Random Tree (RRT) path planning algorithm. The Particle RRT algorithm explicitly considers uncertainty in its do...
ICRA
2007
IEEE
13 years 11 months ago
2007
IEEE
— New technologies and processes enhance the need for direct human-robot-interaction, to fully exploit the potential of robots’ accuracy and humans’ adaptability. Therefore, ...
ICRA
2007
IEEE
13 years 11 months ago
2007
IEEE
— Needles are commonly used in medical practice as a minimally invasive means to reach subsurface targets for diagnosis or therapy delivery. Recent results indicate that steerabl...
ICRA
2007
IEEE
13 years 11 months ago
2007
IEEE
— We present the design of an optimal trajectory controller for landing a helicopter on a moving target. The trajectory planner is based on the Variational Hamiltonian and Euler-...
ICRA
2007
IEEE
13 years 11 months ago
2007
IEEE
— This paper addresses the challenges and benefits of undergraduate robotics education in technologically underserved communities. We present two robotics courses that the author...
ICRA
2007
IEEE
13 years 11 months ago
2007
IEEE
— Coalescence is the problem of isolated mobile robots independently searching for peers with the goal of forming a single connected network. This is important because communicat...