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    2007
    134views Robotics» more  RSS 2007»
    A Discrete Geometric Optimal Control Framework for Systems with Symmetries
    14 years 26 days ago
    A Discrete Geometric Optimal Control Framework for Systems with Symmetries
    Download  www.roboticsproceedings.org
    — This paper studies the optimal motion control of mechanical systems through a discrete geometric approach. At the core of our formulation is a discrete Lagrange-d’AlembertPon...
    Marin Kobilarov, Mathieu Desbrun, Jerrold E. Marsd...
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    2007
    146views Robotics» more  RSS 2007»
    Context and Feature Sensitive Re-sampling from Discrete Surface Measurements
    14 years 26 days ago
    Context and Feature Sensitive Re-sampling from Discrete Surface Measurements
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    — This paper concerns context and feature-sensitive re-sampling of workspace surfaces represented by 3D point clouds. We interpret a point cloud as the outcome of repetitive and ...
    Dave Cole, Paul Newman
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    2007
    145views Robotics» more  RSS 2007»
    Semantic Modeling of Places using Objects
    14 years 26 days ago
    Semantic Modeling of Places using Objects
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    — While robot mapping has seen massive strides , higher level abstractions in map representation are still not widespread. Maps containing semantic concepts such as objects and l...
    Ananth Ranganathan, Frank Dellaert
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    2007
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    Adaptive Non-Stationary Kernel Regression for Terrain Modeling
    14 years 26 days ago
    Adaptive Non-Stationary Kernel Regression for Terrain Modeling
    Download  www.roboticsproceedings.org
    — Three-dimensional digital terrain models are of fundamental importance in many areas such as the geo-sciences and outdoor robotics. Accurate modeling requires the ability to de...
    Tobias Lang, Christian Plagemann, Wolfram Burgard
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    2007
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    Vision-Aided Inertial Navigation for Precise Planetary Landing: Analysis and Experiments
    14 years 26 days ago
    Vision-Aided Inertial Navigation for Precise Planetary Landing: Analysis and Experiments
    Download  www.roboticsproceedings.org
    Abstract—In this paper, we present the analysis and experimental validation of a vision-aided inertial navigation algorithm for planetary landing applications. The system employs...
    Anastasios I. Mourikis, Nikolas Trawny, Stergios I...
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    2007
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    Discrete Search Leading Continuous Exploration for Kinodynamic Motion Planning
    14 years 26 days ago
    Discrete Search Leading Continuous Exploration for Kinodynamic Motion Planning
    Download  www.roboticsproceedings.org
    Abstract— This paper presents the Discrete Search Leading continuous eXploration (DSLX) planner, a multi-resolution approach to motion planning that is suitable for challenging p...
    Erion Plaku, Lydia E. Kavraki, Moshe Y. Vardi
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    2007
    119views Robotics» more  RSS 2007»
    Fishbone Model for Belt Object Deformation
    14 years 26 days ago
    Fishbone Model for Belt Object Deformation
    Download  www6.mapse.eng.osaka-u.ac.jp
    — A modeling method for representing belt object deformation is proposed. Deformation of belt objects such as film circuit boards or flexible circuit boards must be estimated f...
    Hidefumi Wakamatsu, Eiji Arai, Shinichi Hirai
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    2007
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    Map-Based Precision Vehicle Localization in Urban Environments
    14 years 26 days ago
    Map-Based Precision Vehicle Localization in Urban Environments
    Download  www.roboticsproceedings.org
    Abstract— Many urban navigation applications (e.g., autonomous navigation, driver assistance systems) can benefit greatly from localization with centimeter accuracy. Yet such ac...
    Jesse Levinson, Michael Montemerlo, Sebastian Thru...
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    2007
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    BS-SLAM: Shaping the World
    14 years 26 days ago
    BS-SLAM: Shaping the World
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    — This paper presents BS-SLAM, a simultaneous localization and mapping algorithm for use in unstructured environments that is effective regardless of whether features correspond ...
    Luis Pedraza, Gamini Dissanayake, Jaime Valls Mir&...
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    2007
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    Learning omnidirectional path following using dimensionality reduction
    14 years 26 days ago
    Learning omnidirectional path following using dimensionality reduction
    Download  www.roboticsproceedings.org
    Abstract— We consider the task of omnidirectional path following for a quadruped robot: moving a four-legged robot along any arbitrary path while turning in any arbitrary manner....
    J. Zico Kolter, Andrew Y. Ng
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