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Innovation and Global Issues 1: Extended Abstracts Book [article]

Nurettin Bilici, Ragıp Pehlivanlı, Selçuk Demirkılınç
2021 figshare.com  
It is a valuable academic work that contains extended abstracts of the academic studies presented within the scope of Innovation and Global Issues Congress I in Patara Antique city by InGlobe Academy and  ...  includes multidisciplinary studies.Turkish Innovation and Global Issues Congress I kapsamında sunulan akademik çalışmaların geniş özet metinlerinin bulunduğu, multidisipliner çalışmalar içeren değerli  ...  It is also stated that the Prophet went to the date grove location where Ibn Sayyad lives and tried to hear something from him by hiding himself with palm branches.  ... 
doi:10.6084/m9.figshare.13634555.v3 fatcat:nlekic2mu5cmze3ad5dn6jorzq

Innovation and Global Issues 1: Extended Abstracts Book [article]

Nurettin Bilici, Ragıp Pehlivanlı, Selçuk Demirkılınç
2021 figshare.com  
Innovation and Global Issues Congress I kapsamında sunulan akademik çalışmaların geniş özet metinlerinin bulunduğu, multidisipliner çalışmalar içeren değerli akademik bir eserdir.  ...  Rashid (d.152/769) The products have come to standardization and the idea of designing for the people of the world has formed with the globalization (Gölbaşı, 2010) .  ...  Each piece that has produced in different countries and finally brought together to generate a product for market in global system.  ... 
doi:10.6084/m9.figshare.13634555.v1 fatcat:q5mkgjq3jrh5jn4ualb2pshj5u

An incremental constraint-based framework for task and motion planning

Neil T Dantam, Zachary K Kingston, Swarat Chaudhuri, Lydia E Kavraki
2018 The international journal of robotics research  
We present a new constraint-based framework for task and motion planning (TMP).  ...  Finally, in addition to describing a new method for TMP and its implementation on a physical robot, we also put forward requirements and abstractions for the development of similar planners in the future  ...  Acknowledgments NTD, SC, and LEK are supported in part by NSF CCF-1514372, CCF-1162076, and IIS 1317849. ZKK is supported in part by an RUE associated with IIS 1317849.  ... 
doi:10.1177/0278364918761570 fatcat:pmzj25ioynbgjfil46nssbmncm

Computing smooth human friendly motion with the variational formalism

Rafael A Rojas, Renato Vidoni
2020 Zenodo  
In this extended abstract, we comment the different approaches that have been developed to compute this kind of trajectories and compare them with the methods we developed based on the variational formalism  ...  In literature, several approaches propose to ensure mechanical and psychological safety by planning motion subject to safety constraints.  ...  CONCLUSIONS In this work we summarized our recent developed methods and tools for planning minimum jerk motions for collaborative applications.  ... 
doi:10.5281/zenodo.4781136 fatcat:w6lzv3ot5rbxbf5pyrlwnmez4q

Reflective HCI

Paul Dourish, Janet Finlay, Phoebe Sengers, Peter Wright
2004 Extended abstracts of the 2004 conference on Human factors and computing systems - CHI '04  
Designed to promote exploration and player reflection on the use of public space, FIASCO extends methods inspired by Situationist urban theory.  ...  ABSTRACT Working from literary theory, in this position paper I propose The Uncanny as strategy for a critical approach to the design of robots.  ...  Special thanks to Jodi Forlizzi, and Francine Gemperle for their feedback and support on this topic. 4 generally to be welcomed and the benefits are demonstrable [De Young 1996] .  ... 
doi:10.1145/985921.986203 dblp:conf/chi/DourishFSW04 fatcat:2riaoweryzhnza25n4hwbghwha

A Survey of Asymptotically Optimal Sampling-based Motion Planning Methods [article]

Jonathan D. Gammell, Marlin P. Strub
2020 arXiv   pre-print
Motion planning is a fundamental problem in autonomous robotics. It requires finding a path to a specified goal that avoids obstacles and obeys a robot's limitations and constraints.  ...  Formal path-quality guarantees for continuously valued search spaces are an active area of research interest.  ...  These assumptions can also be modified and extended to provide formal analysis of planning performance for kinodynamic systems (Section 2.3.4). 2.3.1. Search space assumptions.  ... 
arXiv:2009.10484v1 fatcat:idhjoeu3snhljmmhvhodqd4cca

Task control with remote center of motion constraint for minimally invasive robotic surgery

Nastaran Aghakhani, Milad Geravand, Navid Shahriari, Marilena Vendittelli, Giuseppe Oriolo
2013 2013 IEEE International Conference on Robotics and Automation  
An example of application of the proposed kinematic modeling to a motion planning problem for a 9 degrees of freedom manipulator with assigned path for the surgical tool is then proposed to illustrate  ...  To show the effectiveness of our formalization, we consider first a visual task for a manipulator with 6 degrees of freedom holding an endoscopic camera and derive the kinematic control law allowing to  ...  The reported motion planning experiment that is a preliminary result on ongoing research on motion planning in surgical robotics and represents an abstract task.  ... 
doi:10.1109/icra.2013.6631412 dblp:conf/icra/AghakhaniGSVO13 fatcat:h3hgiqsvgrexhi44enr7e6ewpa

Understanding motion planning better: A comparative review of "Principles of Robot Motion: Theory, Algorithms, and Implementations", by H. Choset et al

Pablo Jiménez
2007 Computer Science Review  
The textbook on Motion Planning "Principles of Robot Motion: Theory, Algorithms, and Implementations", by H.  ...  ., MIT Press, appeared on June 2005, is reviewed and compared to other two textbooks on the same subject, from 1991 and 2006 respectively.  ...  The formal description of the Configuration Space (Chapter 3) and related items is a must in any Robot Motion Planning textbook.  ... 
doi:10.1016/j.cosrev.2007.06.001 fatcat:u33kluwrsnd5pi67cwymzxdeha

Deliberation for autonomous robots: A survey

Félix Ingrand, Malik Ghallab
2017 Artificial Intelligence  
Deliberation is meant to endow a robotic system with extended, more adaptable and robust functionalities, as well as reduce its deployment cost.  ...  The survey focuses as much as possible on papers with a clear robotics content and with a concern on integrating several deliberation functions.  ...  Many thanks to several colleagues, in particular Wheeler Ruml and Frédéric Py for their very helpful technical and editorial feedback.  ... 
doi:10.1016/j.artint.2014.11.003 fatcat:e3b5lxppsje6pndmudxqtnzedy

Optimal mission planner with timed temporal logic constraints

Yuchen Zhou, Dipankar Maity, John S. Baras
2015 2015 European Control Conference (ECC)  
In this paper, we present an optimization based method for path planning of a mobile robot subject to time bounded temporal constraints, in a dynamic environment.  ...  This approach is different from the automata based methods which generate a finite abstraction of the environment and dynamics, and use an automata theoretic approach to formally generate a path that satisfies  ...  CASE STUDY AND DISCUSSION We apply our method for solving mission planning with finite time constraints on two different workspaces.  ... 
doi:10.1109/ecc.2015.7330634 dblp:conf/eucc/ZhouMB15 fatcat:p7ll3rcl2fgbdlkmu53b5uysga

Consolidating Kinematic Models to Promote Coordinated Mobile Manipulations [article]

Ziyuan Jiao, Zeyu Zhang, Xin Jiang, David Han, Song-Chun Zhu, Yixin Zhu, Hangxin Liu
2021 arXiv   pre-print
This new VKC perspective of mobile manipulation allows a service robot to (i) produce well-coordinated motions, suitable for complex household environments, and (ii) perform intricate multi-step tasks  ...  Accordingly, a mobile manipulation task is represented by altering the state of the constructed VKC, which can be converted to a motion planning problem, formulated, and solved by trajectory optimization  ...  By abstracting the objects' kinematic structures and forming a VKC, a service robot can plan and act more efficiently with improved foot-arm coordination.  ... 
arXiv:2108.01264v3 fatcat:gx5jmsrbezagpbffe64puus7we

Task constrained motion planning in robot joint space

Mike Stilman
2007 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems  
We explore global randomized joint space path planning for articulated robots that are subject to task space constraints.  ...  This paper describes a representation of constrained motion for joint space planners and develops two simple and efficient methods for constrained sampling of joint configurations: Tangent Space Sampling  ...  For instance, Section X-C applies our method with multiple hard constraints. A study of soft constraints may lead to results in biasing motion plans towards desirable robot postures.  ... 
doi:10.1109/iros.2007.4399305 dblp:conf/iros/Stilman07 fatcat:4r4hzrxqg5drho6bopgv4sfpai

Automated composition of motion primitives for multi-robot systems from safe LTL specifications

Indranil Saha, Rattanachai Ramaithitima, Vijay Kumar, George J. Pappas, Sanjit A. Seshia
2014 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems  
We present a compositional motion planning framework for multi-robot systems based on an encoding to satisfiability modulo theories (SMT).  ...  Our approach can also be extended to synthesize optimal cost trajectories where optimality is defined with respect to the available motion primitives.  ...  These constraints are common to any motion planning problem for a set of robots.  ... 
doi:10.1109/iros.2014.6942758 dblp:conf/iros/SahaRKPS14 fatcat:xxve6nmukbhhfbxq2mfsxb42ti

Introducing Geometric Constraint Expressions Into Robot Constrained Motion Specification and Control

Gianni Borghesan, Enea Scioni, Abderrahmane Kheddar, Herman Bruyninckx
2016 IEEE Robotics and Automation Letters  
for a 6-DOF robot.  ...  composition of constraints, iii) runtime monitoring of all constraints (that allows for runtime sequencing of constraint sets via, for example, a Finite State Machine), and iv) formal task descriptions  ...  Analogies with symbolic planning While we develop this formalism as a way to describe tasks at an abstract level, we later realized that this effort has overlapping goals with works that investigate how  ... 
doi:10.1109/lra.2015.2506119 dblp:journals/ral/BorghesanSKB16 fatcat:v5rfa5ondjaench2pgjfqye36y

A Deformable Configuration Planning Framework for a Parallel Wheel-Legged Robot Equipped with Lidar

Fei Guo, Shoukun Wang, Binkai Yue, Junzheng Wang
2020 Sensors  
To make full use of the deformability and traversability of WHLR with parallel Stewart mechanism, this paper presents an optimization-driven planning framework for WHLR with parallel Stewart mechanism  ...  Compared with legged and wheeled machines, it can be applied for more challenging mobile robotic exercises using the enhanced environment adapting performance.  ...  Space Here we analyze how the mapping and planning module formalized in Figure 3 , which operates deformable trajectory optimizing for robot obstacle negotiation in confined space.  ... 
doi:10.3390/s20195614 pmid:33019529 fatcat:suqpwyvhpjf53lq744l5mo36aa
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