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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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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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Output Feedback Stabilization of a Mobile Robot
In all the previous chapters, we assumed full-state information for the purpose of controller synthesis. Here we propose an observer scheme for one...
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Switched Stabilization of a Hovercraft
In this chapter we consider the problem of stabilizing a hovercraft with two different switched strategies. The first control algorithm is based on...
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Alternative Control Strategies for the NI
In this chapter we propose three alternative control strategies to stabilize the NI. These control strategies are switched and time-varying in...
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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...
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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...
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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...
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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...
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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...
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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...
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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...
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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...
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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...