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2007
134views Robotics» more  RSS 2007»
13 years 5 months ago
A Discrete Geometric Optimal Control Framework for Systems with Symmetries
— This paper studies the optimal motion control of mechanical systems through a discrete geometric approach. At the core of our formulation is a discrete Lagrange-d’AlembertPon...
Marin Kobilarov, Mathieu Desbrun, Jerrold E. Marsd...
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2007
146views Robotics» more  RSS 2007»
13 years 5 months ago
Context and Feature Sensitive Re-sampling from Discrete Surface Measurements
— This paper concerns context and feature-sensitive re-sampling of workspace surfaces represented by 3D point clouds. We interpret a point cloud as the outcome of repetitive and ...
Dave Cole, Paul Newman
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2007
145views Robotics» more  RSS 2007»
13 years 5 months ago
Semantic Modeling of Places using Objects
— While robot mapping has seen massive strides , higher level abstractions in map representation are still not widespread. Maps containing semantic concepts such as objects and l...
Ananth Ranganathan, Frank Dellaert
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2007
151views Robotics» more  RSS 2007»
13 years 5 months ago
Adaptive Non-Stationary Kernel Regression for Terrain Modeling
— Three-dimensional digital terrain models are of fundamental importance in many areas such as the geo-sciences and outdoor robotics. Accurate modeling requires the ability to de...
Tobias Lang, Christian Plagemann, Wolfram Burgard
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2007
158views Robotics» more  RSS 2007»
13 years 5 months ago
Vision-Aided Inertial Navigation for Precise Planetary Landing: Analysis and Experiments
Abstract—In this paper, we present the analysis and experimental validation of a vision-aided inertial navigation algorithm for planetary landing applications. The system employs...
Anastasios I. Mourikis, Nikolas Trawny, Stergios I...
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2007
147views Robotics» more  RSS 2007»
13 years 5 months ago
Discrete Search Leading Continuous Exploration for Kinodynamic Motion Planning
Abstract— This paper presents the Discrete Search Leading continuous eXploration (DSLX) planner, a multi-resolution approach to motion planning that is suitable for challenging p...
Erion Plaku, Lydia E. Kavraki, Moshe Y. Vardi
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2007
119views Robotics» more  RSS 2007»
13 years 5 months ago
Fishbone Model for Belt Object Deformation
— A modeling method for representing belt object deformation is proposed. Deformation of belt objects such as film circuit boards or flexible circuit boards must be estimated f...
Hidefumi Wakamatsu, Eiji Arai, Shinichi Hirai
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2007
192views Robotics» more  RSS 2007»
13 years 5 months ago
Map-Based Precision Vehicle Localization in Urban Environments
Abstract— Many urban navigation applications (e.g., autonomous navigation, driver assistance systems) can benefit greatly from localization with centimeter accuracy. Yet such ac...
Jesse Levinson, Michael Montemerlo, Sebastian Thru...
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2007
119views Robotics» more  RSS 2007»
13 years 5 months ago
BS-SLAM: Shaping the World
— This paper presents BS-SLAM, a simultaneous localization and mapping algorithm for use in unstructured environments that is effective regardless of whether features correspond ...
Luis Pedraza, Gamini Dissanayake, Jaime Valls Mir&...
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2007
135views Robotics» more  RSS 2007»
13 years 5 months ago
Learning omnidirectional path following using dimensionality reduction
Abstract— We consider the task of omnidirectional path following for a quadruped robot: moving a four-legged robot along any arbitrary path while turning in any arbitrary manner....
J. Zico Kolter, Andrew Y. Ng