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Continuum manipulators are particularly suitable for performing tasks in cluttered environments with limited space for maneuvering. While there is progress on continuum grasping of an object in a cluttered space, if the environment is unknown where the target object is occluded and only partially visible, such as in a search and rescue scenario, an open problem is how to determine if it is possible...
This paper addresses the problem of real-time, non-holonomic motion planning in environments with moving obstacles of unforeseen, arbitrary motion. An approach is introduced to smoothly switch trajectories by generating feasible non-holonomic trajectory segments on the fly as the robot moves in such an environment, extending the real-time adaptive motion planning (RAMP) approach that is used for holonomic...
Continuum manipulators, featuring “continuous backbone structures”, are promising for deft manipulation of a wide range of objects under uncertain conditions in less-structured and cluttered environments. A multi-section trunk/tentacle robot is such a continuum manipulator. With a continuum robot, manipulation means a continuous whole-arm motion, often without a clear distinction between transport...
On-line, efficient perception based on sensing is essential for an autonomous robot to operate in an unknown and unpredictable environment. An efficient on-line algorithm is introduced to determine whether a robot at a future time t and a configuration q will be guaranteed collision-free, directly from real-world sensor data of the robot's environment at the current time τ, using stereo vision sensor...
This paper introduces a novel and flexible simulation platform for studying pursuit and evasion in unknown 2-D environments of arbitrary obstacles, in an effort to expand the practical application of pursuit-evasion research. The platform provides realistic simulation of the sensing capability of each robotic agent (either a pursuer or an evader). Each agent uses real-time local sensing to collect...
This paper addresses continuous collision-checking of a high-DOF robot trajectory in a completely unknown and unpredictable environment (i.e., obstacles are unknown and their motions are also unknown). In, the authors introduced how to discover, if a robot at configuration q at a future time t is guaranteed collision-free or not using the novel concept of the dynamic envelope and atomic obstacles...
Navigation of a car-like robot in environments with unknowns requires effective on-line planning of nonholonomic trajectories. We propose a set of basic maneuver patterns based on Bezier curves that allow either forward or backward motion as building blocks to create nonholonomic trajectories quickly, given a sequence of knot positions/points (e.g., from some GPS navigator). These maneuver patterns...
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