Now showing items 1-4 of 4
Automatic Planning of Manipulator Transfer Movements
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 ...
Solving the Find-Path Problem by Representing Free Space as Generalized Cones
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 ...
Planning of Minimum-Time Trajectories for Robot Arms
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 ...
Team MIT Urban Challenge Technical Report
This technical report describes Team MIT s approach to theDARPA Urban Challenge. We have developed a novel strategy forusing many inexpensive sensors, mounted on the vehicle periphery,and calibrated with a new cross-modal ...