Many tasks that would be of benefit to users in domestic environments require that robots manipulate articulated objects such as doors and drawers. In this paper, we present a novel approach that simultaneously estimates ...

Motion planners for autonomous vehicles often involve a two-level hierarchical structure consisting of a high-level, discrete planner and a low-level trajectory generation scheme. To ensure compatibility between these two ...

Using a group of robots in place of a single complex robot to accomplish a task has many benefits, including simplified system repair, less down time, and lower cost. Combining heterogeneous groups of these multi-robot ...

We present the successful application of reconfigurable Analog-Very-Large-Scale-Integrated (AVLSI) circuits to motion planning for the AmigoBot robot. Previous research has shown that custom application-specific-integ ...

Many stochastic problems of interest in engineering and science involve random, rigid-body motions. In this talk, a variety of stochastic phenomena that evolve on the group of rigid-body motions will be discussed together ...

Path planning and image processing are critical signal processing tasks for robots, autonomous vehicles, animated characters, etc. The ultimate goal of the path planning problem being addressed in this dissertation is how ...

In this thesis, questions of navigation, planning and control of real-world mobile robotic systems are addressed. Chapter II contains the first contribution in this thesis, which is a modification of ...

There are millions of robots in operation around the world today, and almost all of them operate on factory floors in isolation from people. However, it is now becoming clear that robots can provide much more value assisting ...

In this paper we present a hybrid local-global path planning scheme for the problem of operating a moving agent inside an unknown environment in a collision-free manner. The path planning algorithm is based on information ...

In this paper, we present a method for finding a globally optimal path through a colored graph. Optimal here means that, for a given path, the induced path coloring corresponds to an equivalent class. A total ordering ...