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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... -
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... -
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... -
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... -
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... -
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... -
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... -
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... -
Fast Tree-Based Exploration of State Space for Robots with Dynamics
This paper presents a new motion planning algorithm which we call the Path-Directed Subdivision Tree exploration Planner PDST-EXPLORE. It is a... -
Competitive Complexity of Mobile Robot On Line Motion Planning Problems
This paper is concerned with on-line problems where a mobile robot of size D has to achieve a task in an unknown planar environment whose geometry is... -
Algorithmic Foundation of the Clockwork Orange Robot Soccer Team
The Dutch robot soccer team Clockwork Orange is a research project of the Delft University of Technology and the University of Amsterdam. In this... -
Topological Map** with Sensing-Limited Robots
Most mobile robot map** and exploration research makes use of longrange, powerful sensors such as laser range.nders to create maps. In this paper... -
Multi-Point Contact Models for Dynamic Self-Righting of a Hexapod
In this paper, we report on the design of a model-based controller that can achieve dynamical self-righting of a hexapod robot. Extending on our... -
Stealth Tracking of an Unpredictable Target among Obstacles
This papers introduces the stealth tracking problem, in which a robot, equipped with visual sensors, tries to track a moving target among obstacles... -
Toward Complete Path Planning for Planar 3R-Manipulators Among Point Obstacles
The problem of a planning collision-free motion of a planar 3R-manipulator among point obstacles is studied using techniques from topology and... -
Incremental Grid Sampling Strategies in Robotics
We present algorithms for generating deterministic sample sequences using incremental grid-based sampling. Our algorithms are designed to generate... -
Networked Robots: Ten Years of Experiments
As a feasibility study in 1994, we built a system that allows a robot manipulator to be teleoperated by the public via the Internet. Access control... -
Gap Navigation Trees: Minimal Representation for Visibility-based Tasks
In this paper we present our advances in a data structure, the Gap Navigation Tree (GNT), useful for solving different visibility-based robotic tasks... -
Randomized Algorithms for Minimum Distance Localization
We address the problem of minimum distance localization in environments that may contain self-similarities. A mobile robot is placed at an unknown... -
Probik: Protein Backbone Motion by Inverse Kinematics
To investigate the parameters of the protein design problem that we are exploring in collaboration with biochemists, we developed a tool that uses...