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IJRR
2010
117views more  IJRR 2010»
13 years 27 days ago
Generalizing Dubins Curves: Minimum-time Sequences of Body-fixed Rotations and Translations in the Plane
This paper presents the minimum-time sequences of rotations and translations that connect two configurations of a rigid body in the plane. The configuration of the body is its pos...
Andrei A. Furtuna, Devin J. Balkcom
IJRR
2010
153views more  IJRR 2010»
13 years 27 days ago
Cooperative AUV Navigation using a Single Maneuvering Surface Craft
This paper describes the experimental implementation of an online algorithm for cooperative localization of submerged autonomous underwater vehicles (AUVs) supported by an autonom...
Maurice F. Fallon, Georgios Papadopoulos, John J. ...
IJRR
2010
120views more  IJRR 2010»
13 years 27 days ago
Bounding with Active Wheels and Liftoff Angle Velocity Adjustment
The bounding gait for the Platform for Ambulating Wheels (PAW), a new and unique hybrid wheeled-leg system is presented here. Two hypotheses are tested and discussed: first, that ...
James Andrew Smith, Ioannis Poulakakis, Michael Tr...
IJRR
2010
115views more  IJRR 2010»
13 years 27 days ago
Improving the Efficiency of Clearing with Multi-agent Teams
We present an anytime algorithm for coordinating multiple autonomous searchers to find a potentially adversarial target on a graphical representation of a physical environment. Th...
Geoffrey Hollinger, Sanjiv Singh, Athanasios Kehag...
IJRR
2010
135views more  IJRR 2010»
13 years 27 days ago
Design and field experimentation of a prototype Lunar prospector
Scarab is a prototype rover for Lunar missions to survey resources in polar craters. It is designed as a prospector that would use a deep coring drill and apply soil analysis inst...
David Wettergreen, Scott Moreland, Krzysztof Skoni...
IJRR
2010
125views more  IJRR 2010»
13 years 27 days ago
Mechanics of Flexible Needles Robotically Steered through Soft Tissue
The tip asymmetry of a bevel-tip needle results in the needle naturally bending when it is inserted into soft tissue. This enables robotic needle steering, which can be used in me...
Sarthak Misra, Kyle B. Reed, Benjamin W. Schafer, ...
IJRR
2010
132views more  IJRR 2010»
13 years 27 days ago
LQR-trees: Feedback Motion Planning via Sums-of-Squares Verification
Advances in the direct computation of Lyapunov functions using convex optimization make it possible to efficiently evaluate regions of attraction for smooth nonlinear systems. Her...
Russ Tedrake, Ian R. Manchester, Mark Tobenkin, Jo...
IJRR
2010
214views more  IJRR 2010»
13 years 27 days ago
Object Recognition in 3D Point Clouds Using Web Data and Domain Adaptation
Over the last years, object detection has become a more and more active field of research in robotics. An important problem in object detection is the need for sufficient labeled ...
Kevin Lai, Dieter Fox
IJRR
2010
84views more  IJRR 2010»
13 years 2 months ago
Grasping Non-stretchable Cloth Polygons
In this paper, we examine non-stretchable 2D polygonal cloth, and place bounds on the number of fingers needed to immobilize it. For any non-stretchable cloth polygon, it is alwa...
Matthew P. Bell, Devin J. Balkcom
IJRR
2010
91views more  IJRR 2010»
13 years 2 months ago
Design and Kinematic Modeling of Constant Curvature Continuum Robots: A Review
Continuum robotics has rapidly become a rich and diverse area of research, with many designs and applications demonstrated. Despite this diversity in form and purpose, there exist...
Robert J. Webster III, Bryan A. Jones