IJRR
2011
13 years 4 months ago
2011
— This paper presents LQG-MP (linear-quadratic Gaussian motion planning), a new approach to robot motion planning that takes into account the sensors and the controller that will...
IJRR
2011
13 years 7 months ago
2011
Abstract People typically move and act under the constraints of an environment, making human behavior strongly place-dependent. Motion patterns, the places and the rates at which p...
IJRR
2011
13 years 7 months ago
2011
We present a model to estimate motion from monocular visual and inertial measurements. We analyze the model and characterize the conditions under which its state is observable, an...
IJRR
2011
13 years 7 months ago
2011
IJRR
2011
13 years 7 months ago
2011
The task of teleoperating a robot over a wireless video link is known to be very difficult. Teleoperation becomes even more difficult when the robot is surrounded by dense obstac...
IJRR
2011
13 years 7 months ago
2011
We propose a constructive control design for stabilization of non-periodic trajectories of underactuated robots. An important example of such a system is an underactuated “dynam...
IJRR
2011
13 years 7 months ago
2011
We consider the problem of controlling multiple robots manipulating and transporting a payload in three dimensions via cables. Individual robot control laws and motion plans enable...
IJRR
2011
13 years 7 months ago
2011
We discuss vision as a sensory modality for systems that effect actions in response to perceptions. While the internal representations informed by vision may be arbitrarily compl...
IJRR
2011
13 years 7 months ago
2011
This paper unifies and extends several different existing strategies for deploying groups of robots in an environment. A cost function is proposed that can be specialized to rep...
IJRR
2011
13 years 7 months ago
2011
Abstract Partially observable Markov decision processes (POMDPs) are a principled mathematical framework for planning under uncertainty, a crucial capability for reliable operation...