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  1. 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...
    Michael Farber in Algorithmic Foundations of Robotics VI
    Chapter

  2. 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...
    Itay Lotan, Henry van den Bedem, ... Jean-Claude Latombe in Algorithmic Foundations of Robotics VI
    Chapter

  3. 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...
    Robert Ghrist, Jason M. O’Kane, Steven M. LaValle in Algorithmic Foundations of Robotics VI
    Chapter

  4. 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...
    Eric Griffith, Srinivas Akella in Algorithmic Foundations of Robotics VI
    Chapter

  5. 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...
    Yan-Bin Jia, Rinat Ibrayev in Algorithmic Foundations of Robotics VI
    Chapter

  6. 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...
    K. “Gopal” Gopalakrishnan, Ken Goldberg in Algorithmic Foundations of Robotics VI
    Chapter

  7. 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...
    Prasad N. Atkar, David C. Conner, ... Alfred A. Rizzi in Algorithmic Foundations of Robotics VI
    Chapter

  8. 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...
    Juan Cortés, Thierry Siméon in Algorithmic Foundations of Robotics VI
    Chapter

  9. 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...
    Andrew M. Ladd, Lydia E. Kavraki in Algorithmic Foundations of Robotics VI
    Chapter

  10. 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

  11. 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

  12. 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

  13. 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

  14. 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

  15. 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...
    Guanfeng Liu, J.C. Trinkle, R.J. Milgram in Algorithmic Foundations of Robotics VI
    Chapter

  16. 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

  17. 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

  18. 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

  19. 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

  20. 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
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