ICRA
2009
IEEE
13 years 11 months ago
2009
IEEE
Abstract— Collecting grasp data for learning and benchmarking purposes is very expensive. It would be helpful to have a standard database of graspable objects, along with a set o...
ICRA
2009
IEEE
13 years 11 months ago
2009
IEEE
— We present a decentralized, scalable approach to assembling a group of heterogeneous parts into different products using a swarm of robots. While the assembly plans are predete...
ICRA
2009
IEEE
13 years 11 months ago
2009
IEEE
ICRA
2009
IEEE
13 years 11 months ago
2009
IEEE
— This paper presents a detailed characterization of the Hokuyo URG-04LX 2D laser range finder. While the sensor specifications only provide a rough estimation of the sensor ac...
ICRA
2009
IEEE
13 years 11 months ago
2009
IEEE
Abstract— In this paper we describe an algorithm to compute cycle constraints that can be used in many graph-based SLAM algorithms; we exemplify it in Hierarchical SLAM. Our algo...
ICRA
2009
IEEE
13 years 11 months ago
2009
IEEE
— We consider the problem of tracking multiple agents moving amongst obstacles, using multiple cameras. Given an environment with obstacles, and many people moving through it, we...
ICRA
2009
IEEE
13 years 11 months ago
2009
IEEE
Abstract— This paper addresses the problem of featurebased robot localization in large-size environments. With recent progress in SLAM techniques, it has become crucial for a rob...
ICRA
2009
IEEE
13 years 11 months ago
2009
IEEE
— We propose a new approach to appearance based loop detection from metric 3D maps, exploiting the NDT surface representation. Locations are described with feature histograms bas...
ICRA
2009
IEEE
13 years 11 months ago
2009
IEEE
Abstract— The paper deals with computing frictional forceclosure grasps of 3D objects problem. The key idea of the presented work is the demonstration that wrenches associated to...
ICRA
2009
IEEE
13 years 11 months ago
2009
IEEE
— We present an investigation of specialization when considering the execution of collaborative tasks by a robot swarm. Specifically, we consider the stick-pulling problem firs...