Abstract— Today most robots interact with the surroundings only with their end-effectors. However there are many benefits to utilizing contact along the entire length of robot b...
— We introduce a method for constructing provably safe smooth feedback laws for car-like robots in obstaclecluttered polygonal environments. The robot is taken to be a point with...
— This paper presents a new visual servoing method that is able to stabilize a moving area of soft tissue within an ultrasound B-mode imaging plane. The approach consists of movi...
Alexandre Krupa, Gabor Fichtinger, Gregory D. Hage...
— In addition to possessing a number of other important properties, kinematically redundant manipulators are inherently more tolerant to locked-joint failures than nonredundant m...
Rodney G. Roberts, Rodrigo S. Jamisola, Anthony A....
— Randomly expanding trees are very effective in exploring high-dimensional spaces. Consequently, they are a powerful algorithmic approach to sampling-based single-query motion p...