TROB
2002
13 years 4 months ago
2002
Abstract--The key to utilizing the potential of multirobot systems is cooperation. How can we achieve cooperation in systems composed of failure-prone autonomous robots operating i...
TROB
2002
13 years 4 months ago
2002
Abstract-We describe Localization-Space Trails (LOST), a method that enables a team of robots to navigate between places of interest in an initially unknown environment using a tra...
TROB
2002
13 years 4 months ago
2002
Dynamic control of constrained mechanical systems, such as robotic manipulators under end-effector constraints, parallel manipulators, and multifingered robotic hands under closure...
TROB
2002
13 years 4 months ago
2002
This paper concerns the stability analysis of a new class of model-free visual servoing methods. These methods are "model-free" since they are based on the estimation of ...
TROB
2002
13 years 4 months ago
2002
This paper describes how decentralized control theory can be used to analyze the control of multiple cooperative robotic vehicles. Models of cooperation are discussed and related t...
TROB
2002
13 years 4 months ago
2002
This paper first investigates the issue of transparency in time-delayed teleoperation. It then studies the advantages of employing local force feedback for enhanced stability and p...
TROB
2002
13 years 4 months ago
2002
-- The initial resting pose of many industrial parts differs from the orientation desired for assembly. We show that it is possible to align parts during grasping using a standard ...
TROB
2002
13 years 4 months ago
2002
This paper uses a configuration space ( -space) based method to compute interference-free configuration for stacking polyhedral sheet metal parts. This work forms the interference ...
TROB
2002
13 years 4 months ago
2002
The objective of the CyberScout project is to develop an autonomous surveillance and reconnaissance system using a network of all-terrain vehicles. In this paper, we focus on two f...
TROB
2002
13 years 4 months ago
2002
In this paper, we present two globally convergent vision-based position controllers for a planar two-links manipulator in the so-called fixed-camera configuration, where the camera...