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  1. 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...
    Yoav Gabriely, Elon Rimon in Algorithmic Foundations of Robotics VI
    Chapter

  2. 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...
    Pieter Jonker, Bram van Driel, ... Bas Terwijn in Algorithmic Foundations of Robotics VI
    Chapter

  3. 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...
    Benjamín Tovar, Luis Guilamo, Steven M. LaValle in Algorithmic Foundations of Robotics VI
    Chapter

  4. 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...
    Malvika Rao, Gregory Dudek, Sue Whitesides in Algorithmic Foundations of Robotics VI
    Chapter

  5. 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...
    Uluc̣ Saranli, Alfred A. Rizzi, Daniel E. Koditschek in Algorithmic Foundations of Robotics VI
    Chapter

  6. 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...
    Tirthankar Bandyopadhyay, Yuan** Li, ... David Hsu in Algorithmic Foundations of Robotics VI
    Chapter

  7. 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...
    Stephen R. Lindemann, Anna Yershova, Steven M. LaValle in Algorithmic Foundations of Robotics VI
    Chapter

  8. 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...
    Ken Goldberg in Algorithmic Foundations of Robotics VI
    Chapter

  9. 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...
    Wesley H. Huang, Kristopher R. Beevers in Algorithmic Foundations of Robotics VI
    Chapter

  10. 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...
    Kimberly Noonan, David O’Brien, Jack Snoeyink in Algorithmic Foundations of Robotics VI
    Chapter

  11. 6 Structural Properties of Discrete and Continuous Linear Time-Varying Systems: A Unified Approach

    The aim of this chapter is the study of structural properties of linear systems. Systems with time-varying coefficients are considered, both in the...
    Henri Bourlès in Advanced Topics in Control Systems Theory
    Chapter

  12. 5 Algebraic Analysis of Control Systems Defined by Partial Differential Equations

    The present chapter contains the material taught within the module P2 of FAP 2004. The purpose of this intensive course is first to provide an...
    Jean-François Pommaret in Advanced Topics in Control Systems Theory
    Chapter

  13. 1 Nonlinear Adaptive Stabilization via System Immersion: Control Design and Applications

    This chapter presents a review of a recently developed methodology for the (adaptive) stabilization of nonlinear systems via state and output...
    D. Karagiannis, R. Ortega, A. Astolfi in Advanced Topics in Control Systems Theory
    Chapter

  14. 1 Introduction to Nonlinear Optimal Control

    The maximum principle is presented in the weak and general forms. The standard proofs are detailed, and the connection with the shooting method for...
    Bernard Bonnard, Jean-Baptiste Caillau in Advanced Topics in Control Systems Theory
    Chapter

  15. 6 Stability, Told by Its Developers

    Lyapunov stability theory is probably the most useful qualitative method to study the behaviour of dynamical systems; it benefits from at least 75...
    Antonio Loría, Elena Panteley in Advanced Topics in Control Systems Theory
    Chapter

  16. 4 Stability Analysis of Time-delay Systems: A Lyapunov Approach

    This chapter is devoted to the stability problem of time-delay systems using time-domain approach. Some basic concepts of time-delay systems are...
    Kequin Gu, Silviu-Iulian Niculescu in Advanced Topics in Control Systems Theory
    Chapter

  17. 5 Controllability of Partial Differential Equations

    In this section, we recall some basic elements of semigroup theory (see [25]). In particular, all the arguments of the results mentioned below can be...
    Yacine Chitour, Emmanuel Trélat in Advanced Topics in Control Systems Theory
    Chapter

  18. Motion Planning for Domestic Robot Assistants

    Service robots serve and assist human beings sharing a common work space. Collision-free motion paths have to be generated in short times for a...
    Thomas Wösch, Werner Neubauer, ... Zsolt Kemény in Advances in Human-Robot Interaction
    Chapter

  19. 1 Multi-modal Robot Interfaces

    The goal of effective interaction between user and robot assistant makes it essential to provide a number of broadly utilizable and potentially...
    Prof. Dr. Erwin Prassler, Dr. Andreas Stopp, ... Prof. Dr.-Ing. Rüdiger Dillmann in Advances in Human-Robot Interaction
    Chapter

  20. Safety Improvement by Fault Diagnosis and Fault Recovery for the Perceptual System of Mobile Robots

    This paper present an approach to safe navigation of autonomous mobile systems within partially known or unknown dynamic environments. In this...
    Dirk Bank in Advances in Human-Robot Interaction
    Chapter
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