The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
In this article, a new method is presented in order to increase node dispersion on RRTs. This approach allows for a better environment representation, reducing the amount of nodes in the tree. The proposed RRT differs from Classic RRT by an insertion of a new node-tree connection method. The proposed affixing rule uses a tree whose edges are of variable length, which more rapidly explores the environment's...
When an object is caged by a set of fingers, it cannot move arbitrarily far from the caging fingers regardless of what possible rigid motion it takes. Although this condition makes caging an attractive choice for nonprehensile manipulation, directly computing caging configurations is still a complex process. More importantly, using a cage could be too restrictive than necessary in many real cases...
The overall performance of a robotic system is commonly expressed by a single scenario-specific metric which is supposed to be optimized. However, the metric describing the performance of a single subtask within a scenario may be different. Nevertheless, the scenario performance is most likely dependent on the subtask performances but a mutual transformation is not straightforward in general, especially...
We present a new retraction algorithm for high DOF articulated models and use our algorithm to improve the performance of RRT planners in narrow passages. The retraction step is formulated as a constrained optimization problem and performs iterative refinement on the boundary of C-Obstacle space. We also combine the retraction algorithm with decomposition planners to handle very high DOF articulated...
Test and evaluation may be viewed as a technology enabler for the successful deployment of unmanned vehicles and robots in all their envisioned applications. It is however a challenging endeavor, considering that roboticists and developers are not used to thinking of comprehensive test and evaluation as an integral part of robot development. Moreover, the community who has conducted test and evaluation...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.