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The Web is mainly processed by humans. The role of the machines is just to transmit and display the contents of the documents, barely being able to do something else. Nowadays there are lots of initiatives trying to change this situation; many of them are related to fields like the Semantic Web or Web Intelligence. This paper describes a new proposal towards Web Intelligence: the Cooperative Web,...
The paper deals with the problem of designing an RRT*-based planning algorithm that allows the user to guide the tree growth in a simple and transparent way. The key idea of the proposal is to create a planning algorithm, called HG-RRT*, that minimizes an optimization function over the configuration space where a state cost function is established. This state cost is defined as the combination of...
This paper proposes a novel motion planning approach that exploits the concept of synergies (correlations) between degrees of freedom, extending it to the velocity space and calling them first-order synergies. An automatic partition method is defined to optimally divide the configuration space into cells where first-order synergies are significantly different. Using this partition, an algorithm that...
The paper deals with the problem of planning movements of dual-arm anthropomorphic systems, with the aim of reducing the computational cost of the problem and making the movements look as human-like as possible. The key idea of the proposal is the search of synergies of the dual-arm anthropomorphic system in order to use them to reduce the dimension of the search space while preserving human-like...
This paper presents the software tool used at the Institute of Industrial and Control Engineering (IOC-UPC) for teaching and research in robot motion planning. The tool allows to cope with problems with one or more robots, being a generic robot defined as a kinematic tree with a mobile base, i.e. the tool can plan and simulate from simple two degrees of freedom free-flying robots to multi-robot scenarios...
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