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2007
13 years 7 months ago
2007
— We propose a novel switching control law for the posture stabilization of a wheeled mobile robot, that utilizes the (energetic) passivity of the system’s open-loop dynamics w...
RSS
2007
13 years 7 months ago
2007
— 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...
RSS
2007
13 years 7 months ago
2007
— We develop a systematic approach to incorporating uncertainty into planning manipulation tasks with frictional contacts. We consider the canonical problem of assembling a peg i...
RSS
2007
13 years 7 months ago
2007
—In this paper we show that all processes associated to the move-sense-update cycle of EKF SLAM can be carried out in time linear in the number of map features. We describe Divid...
RSS
2007
13 years 7 months ago
2007
— 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...