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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... -
6 Beamforming Combined with Multi-channel Acoustic Echo Cancellation
For audio signal acquisition, beamforming microphone arrays can be efficiently used for enhancing a desired signal while suppressing... -
4 Optimum Beamforming for Wideband Non-stationary Signals
Array processing techniques strive for extraction of maximum information from a propagating wave field using groups of sensors, which are located at... -
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... -
B Experimental Setups and Acoustic Environments
In this chapter, the experimental setup and the acoustic environments are described, which are used in this work for illustrating the properties of... -
4 Compositional Modelling of Distributed-Parameter Systems
The Hamiltonian formulation of distributed-parameter systems has been a challenging reserach area for quite some time. (A nice introduction,... -
2 Observer Design for Nonlinear Systems
In this chapter, an overview of main observability problems and possible observer designs for nonlinear systems is proposed. In particular the... -
A On the Literature’s Two Different Definitions of Uniform Global Asymptotic Stability for Nonlinear Systems
In this appendix we discuss two different deffnitions of uniform global asymptotic stability (UGAS), both used in the literature. In the first one,... -
Statistical Recognition of Motion Patterns
One key prerequisite for a machine to interact intelligently with people is its ability to recognize humans as interaction partners and to understand... -
The Control Architecture of Care-O-bot II
Robot assistants act in dynamic environments and have to cope with changing situations: they must be able to sense the world and to control their... -
Robotic Home Assistant Care-O-bot II
Technical aids allow elderly and handicapped people to live independently in their private homes as long as they wish. As a contribution to these... -
Next Generation Teach Pendants for Industrial Robots
Teach pendants for industrial robots have sometimes been quite rudimentary in the past, and often enough users had to learn to cope with whatever is... -
12. APPLICATION OF DUAL CONTROLLERS TO A LABORATORY SCALE VERTICAL TAKE-OFF AIRPLANE
The application of dual control with direct adaptation to the roll-angle control of a laboratory scale vertical take-off airplane (Patra et al.,... -
13. ROBUSTNESS AGAINST UNMODELED EFFECTS AND SYSTEM STABILITY
Various engineering systems are described by complex dynamic models that include nonlinearities, time-varying parameters and high-order terms....