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Automatic Planning of Manipulator Transfer Movements
(1980-12-01)
This paper deals with the class of problems that involve finding where to place or how to move a solid object in the presence of obstacles. The solution to this class of problems is essential to the automatic planning ...
Task-Level Robot Learning: Ball Throwing
(1987-12-01)
We are investigating how to program robots so that they learn tasks from practice. One method, task-level learning, provides advantages over simply perfecting models of the robot's lower level systems. Task-level ...
Control of Vibration in Mechanical Systems Using Shaped Reference Inputs
(1988-01-01)
Dynamic systems which undergo rapid motion can excite natural frequencies that lead to residual vibration at the end of motion. This work presents a method to shape force profiles that reduce excitation energy at the ...
Distributed Area Search with a Team of Robots
(2006-12-05)
The main goal of this thesis is to demonstrate the applicability of the distributed systems paradigm to robotic systems. This goal is accomplished by presenting two solutions to the Distributed Area Search problem: organizing ...
Describing Surfaces
(1985-01-01)
This paper continues our work on visual representation s of three-dimensional surfaces [Brady and Yuille 1984b]. The theoretical component of our work is a study of classes of surface curves as a source of constraint ...
Solving the Find-Path Problem by Representing Free Space as Generalized Cones
(1982-05-01)
Free space is represented as a union of (possibly overlapping) generalized cones. An algorithm is presented which efficiently finds good collision free paths for convex polygonal bodies through space littered with ...
Error Detection and Recovery for Robot Motion Planning with Uncertainty
(1987-07-01)
Robots must plan and execute tasks in the presence of uncertainty. Uncertainty arises from sensing errors, control errors, and uncertainty in the geometry of the environment. The last, which is called model error, has ...
Planning of Minimum-Time Trajectories for Robot Arms
(1984-11-01)
The minimum-time for a robot arm has been a longstanding and unsolved problem of considerable interest. We present a general solution to this problem that involves joint-space tesselation, a dynamic time-scaling ...
Toward a Surface Primal Sketch
(1985-04-01)
This paper reports progress toward the development of a representation of significant surface changes in dense depth maps. We call the representation the Surface Primal Sketch by analogy with representation of intensity ...
Spatial Planning: A Configuration Space Approach
(1980-12-01)
This paper presents algorithms for computing constraints on the position of an object due to the presence of obstacles. This problem arises in applications which require choosing how to arrange or move objects among ...