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Collision Free Motion Planning on Graphs
A topological theory initiated in [4,5] uses methods of algebraic topology to estimate numerically the character of instabilities arising in motion...
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Computing Protein Structures from Electron Density Maps: The Missing Fragment Problem
Rapid protein structure determination relies greatly on the availability of software that can automatically generate a protein model from an...
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Pareto Optimal Coordination on Roadmaps
Given a collection of robots sharing a common environment, assume that each possesses an individual roadmap for its C-space and a cost function for...
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Coordinating Multiple Droplets in Planar Array Digital Microfluidics System
This paper presents an approach to coordinate the motions of droplets in digital microfluidic systems used for biochemical analysis. A digital...
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Semi-Differential Invariants for Recognition of Albebraic Curves
This paper studies the recognition of low-degree polynomial curves based on minimal tactile data. Differential and semi-differential invariants have...
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Computing Deform Closure Grasps
In prior work, we extended the well-known form closure grasp framework for rigid parts to a class of deformable parts, modeled as frictionless...
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6 Shared Control
Based on the successful implementations of the lateral balancing and tiltup motion, in this chapter, we are going to develop a shared control...
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Uniform Coverage of Simple Surfaces Embedded in $\mathbb{R}^3$ for Auto-Body Painting
We develop a procedure for automated trajectory generation for robotic spray painting applications. Painting requires that the spray gun deposit...
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Sampling-Based Motion Planning under Kinematic Loop-Closure Constraints
Kinematic loop-closure constraints significantly increase the difficulty of motion planning for articulated mechanisms. Configurations of...
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7 Conclusions
Gyrover is a novel concept for mobility that has distinct advantages over conventional, statically stable vehicles. The concept has been veri.ed with...
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7 Geometrical Parameter Estimation and CF Recognition
This chapter presents the estimator component of the autonomous compliant motion system (see Fig. 1.2). This component...
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3 Literature Survey: Bayesian Probability Theory
This chapter presents some basic aspects of Bayesian probability theory [21, 153]. First of all, the difference between Bayesian and classical...
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8 Experiment: A Cube-In-Corner Assembly
This chapter validates the theory of the previous chapters with an experiment. The experiment consists of the estimation of the geometrical...
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6. Kinematic Control of UVMSs
A robotic system is kinematically redundant when it possesses more degrees of freedom than those required to execute a given task. A generic...
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6 Contact Modelling
This chapter describes the contact modelling for autonomous compliant motion assuming quasi-static, rigid, frictionless contacts. The contact models...
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E Partial Observation with the Kalman Filter
This appendix contains the proofs of Lemmas 7.1 and 7.2. These lemmas state that, for static systems, (i) a Kalman Filter can be run on only the...
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4 Kalman Filters for Nonlinear Systems
The Kalman Filter (KF) [137, 240] is a special case of Bayesian filtering theory. It applies to the estimation of a continuous-valued state x if the...
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Multi-knowledge Approach for Mobile Robot Identification of a Changing Environment
In this paper, a large environment is divided into sub-areas to enable a robot to apply precise localization technology efficiently in real time....
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In Situ Autonomous Biomechanical Characterization
This paper presents a fully automated microrobotic system based on force/vision referenced control designed for cell mechanical characterization. The...
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Image-Based Visual Servoing for Mobile Robots with Catadioptric Camera
This paper presents an image-based visual servoing strategy for holonomic mobile robots equipped with a catadioptric camera. This kind of vision...