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This paper presents the design, fabrication and operation of a hexapod fabricated using a combination of printing and folding flat sheets of polyester. The polyester sheets are cut and engraved with crease patterns, which are then manually folded to create 3D functional modules, inspired by the Japanese art of Origami. These modules, when connected, form a hexapod with two degrees of freedom per leg...
We present an online algorithm for a robot to shape its path to a locally optimal configuration for collecting information in an unknown dynamic environment. As the robot travels along its path, it identifies both where the environment is changing, and how fast it is changing. The algorithm then morphs the robot's path online to concentrate on the dynamic areas in the environment in proportion to...
Persistent robot tasks such as monitoring and cleaning are concerned with controlling mobile robots to act in a changing environment in a way that guarantees that the uncertainty in the system (due to change and to the actions of the robot) remains bounded for all time. Prior work in persistent robot tasks considered only robot systems with collision-free paths that move following speed controllers...
Persistent robot tasks such as monitoring and cleaning are concerned with controlling mobile robots to act in a changing environment in a way that guarantees that the uncertainty in the system (due to change and to the actions of the robot) remains bounded for all time. Prior work in persistent robot tasks considered only robot systems with collision-free paths that move following speed controllers...
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