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This paper develops an efficient approach to generate a collision-free and dynamically feasible trajectory that enables a robotic vehicle to inspect the entire workspace or a subset consisting of one or several regions. The approach makes it possible to specify constraints on the order in which the regions should be inspected by using colors to ensure that regions with the same color are inspected...
One intuitive approach for planning robotic manipulation tasks is to first compute a plan for the manipulated object, as if capable to move on its own, then use the obtained plan to find a sequence of arm maneuvers to take the object along the computed plan. Motion planning queries would be performed in relatively low-dimensional configuration spaces, rather than the full configuration space of a...
Knowledge about the possible interactions between objects is needed by a robot if it is to plan tasks employing those objects. In this paper, we focus on methods to represent the ways in which the degrees of freedom of a rigid body interlocked with another change as the relative pose of the two objects changes, in such a way so as to allow efficient planning queries about the objects. Narrow passages...
This paper introduces a method to efficiently compute global motion plans for robotic manipulators in dynamically changing environments. An offline computation step is used to construct a sparse roadmap to approximate the configuration space of the manipulator in an empty environment. When the robot is running, a representation of the environment to keep track of the robot's free workspace is maintained...
In the past few years several research efforts have aimed to produce robots capable of operating in environments inhabited by humans. This requirement places some tough constraints on a robot; among them, the ability to solve manipulation tasks that come as second nature to people. Manipulation problems are difficult because they present narrow passages (often, the kinds of possible or useful maneuvers...
We implement a visibility-based motion planner for systems in which, because of kinematic constraints, not all maneuvers may be reversible. We use samples that are nonzero dimensional subspaces of the configuration space in an attempt to make the heuristic more efficient at generating large strongly connected components; the non-zero dimensional samples also reduce the computation load associated...
This paper introduces an ultra-tightly coupled approach to data fusion of optical and inertial measurements. The two redundant sensor systems complement each other well, with the cameras providing absolute positions and the inertial measurements giving low latency information of derivatives. The targeted application is the tracking of handheld input devices for robotic surgery, where landmarks are...
This paper proposes a method for accurate robotic motion compensation of a freely moving target object. This approaches a typical problem in medical scenarios, where a robotic system needs to compensate physiological movements of a target region related to the patient. An optical tracking system measures the poses of the robot's end-effector and the moving target. The task is to track the target with...
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