One of the most general frameworks for phrasing control problems for complex, redundant robots is operational space control. However, while this framework is of essential importan...
— Accurate needle insertion in 3D environment is always a grand challenge. When multiple targets are located in the tissue, a procedure of inserting multiple needles from a singl...
Jijie Xu, Vincent Duindam, Ron Alterovitz, Jean Po...
— We explore an online problem where a group of robots has to find a target whose position is unknown in an unknown planar environment whose geometry is acquired by the robots d...
This paper addresses planning of continuous paths for mobile sensors to reduce uncertainty in some quantities of interest in the future. The mutual information between the measure...
— We present an algorithm that probabilistically covers a bounded region of the state space of a nonlinear system with a sparse tree of feedback stabilized trajectories leading t...