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In this paper, we propose a complete closed-form solution to the inverse kinematics problem for a 5-dof manipulator robot, where the existence conditions for all the possible solutions are clearly established and the "singular configurations" where infinite solutions exist are identified. We define a "desired configuration" for the final effector as the position for the center...
In this paper, two novel evolutionary approaches for many-objective optimization are proposed. These algorithms integrate a fine-grained ranking of solutions to favor convergence, with explicit methodologies for diversity promotion in order to guide the search towards a representative approximation of the Pareto-optimal surface. In order to validate the proposed algorithms, we performed a comparative...
The box-pushing problem, where a community of mobile robots must move an object in cluttered environments, represents a very interesting challenge for the development of coordination schemes for multiagent systems, with multiple practical applications (e.g. industrial processes automatization, people rescue, movement of dangerous objects). In this paper we introduce a new path-planner so the resulting...
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