A new method of handling the kinematic singularities of serial robotic manipulators is proposed. The idea is to transform the manipulator's workspace W into a desingularized ...
Future space applications will require robotic systems to assemble, inspect, and maintain large space structures in orbit. For effective planning and control, robots will need to ...
With the success of Mars Pathfinder's Sojourner rover, a new era of planetary exploration has opened, with demand for highly capable mobile robots. These robots must be able ...
We are interested in Voronoi diagrams as a tool in robot path planning, where the search for a path in an r-dimensional space may be simplified to a search on an (r- l)-dimensional...