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This paper presents a one step smooth and efficient path planning algorithm for navigating a large robotic platform in known cluttered environments. The proposed strategy, based on the generation of a novel search space, relies on non-uniform density sampling of the free areas to direct the computational resources to troubled and difficult regions, such as narrow passages, leaving the larger open...
In this paper, a new approach to solve the inverse kinematics of a flexible macro-micro manipulator system is proposed. The macro-micro manipulator system consists of a macro flexible manipulator, and a micro rigid manipulator which is used to compensate for the errors at the tip of the system. Apparently, such a macro-micro system is a redundant system, of which the inverse kinematics remains challenging,...
A force field (F2) based multi-robot collaboration method is presented in this paper. In this method, a virtual force field is generated for every moving robot and continuously changing based on the robot status including its traveling speed, dimension, priority, location and environment, etc. The interactions among robots' force fields and obstacles provide a natural way for collision avoidance and...
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