We consider the problem of moving a three dimensional solid object among polyhedral obstacles. The traditional formulation of configuration space for this problem uses three translational parameters and three angles ...

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 ...

This report presents a system for generating a stable, feasible, and reachable grasp of a polyhedral object. A set of contact points on the object is found that can result in a stable grasp; a feasible grasp is found ...

This paper provides an approach to integrating geometric motion planning with logical task planning for long-horizon tasks in domains with many objects. We propose a tight integration between the logical and geometric ...

This paper explores the motion planning problem for multiple moving objects. The approach taken consists of assigning priorities to the objects, then planning motions one object at a time. For each moving object, the ...

This thesis presents a new high level robot programming system. The programming system can be used to construct strategies consisting of compliant motions, in which a moving robot slides along obstacles in its ...