Concept

Motion planning

Related publications (245)

Rigid body dynamics simulation for robot motion planning

The development of robot motion planning algorithms is inherently a challenging task. This is more than ever true when the latest trends in motion planning are considered. Some motion planners can deal with kinematic and dynamic constraints induced by the ...

EPFL2006

Toward Online Probabilistic Path Replanning

Roland Siegwart, Björn Jensen, Roland Philippsen

In this talk we present work on sensor-based motion planning in initially unknown dynamic environments. Motion detection and probabilistic motion modeling are combined with a smooth navigation function to perform on-line path planning and replanning in clu ...

2006

Automatic Self-Calibration of a Vision System during Robot Motion

Roland Siegwart, Davide Scaramuzza

This paper presents a new technique to estimate the extrinsic parameters of a robot-vision sensor system. More in general, this technique can be adopted to calibrate any robot bearing sensor. It is based on the Extended Kalman Filter. It is very simple and ...

2006

Applying Aspects of Multi-Robot Search to Particle Swarm Optimization

Alcherio Martinoli, James Pugh, Loïc Segapelli

We present a modified version of the Particle swarm Optimization algorithm in which we adjust the virtual swarm search by incorporating inter-agent dynamics native to multi-robot search scenarios. The neighborhood structure of PSO is modified to accurately ...

2006

Velocity Scheduling Controller for a Nonholonomic Mobile Robot

Dominique Bonvin, Philippe Müllhaupt, Davide Buccieri

An improvement over classical dynamic feedback linearization for the control of a nonholonomic mobile robot is proposed. The use of a state extension of higher dimension than in the case of dynamic feedback linearization helps reject constant disturbances ...

2006

Feature-based 3D SLAM

Jan Weingarten

This doctoral thesis deals with an open subproblem of robot navigation, namely simultaneous localization and mapping (SLAM) in three-dimensional space. The goal is to develop a system which is capable of localizing a mobile robot in a reliable way and at t ...

EPFL2006

Small-Scale Robot Formation Movement Using a Simple On-Board Relative Positioning System

Alcherio Martinoli, James Pugh

We explore the problem of smallscale multirobot formation control using only an unsophisticated onboard relative positioning module. The robotic setup and module are implemented and tested in a realistic virtual simulator, using standard formation types an ...

2006

Sensorless Speed Control of Traveling Wave Ultrasonic Motor

Yves Perriard, Markus Flückiger, Matteo Bullo

Ultrasonic motors are a good alternative to electromagnetic motors in medical robotics, since they are electromagnetically compatible. Estimating speed instead of using encoders reduces cost and dimension of the robot on the one hand and increases reliabil ...

2006

Robust on-line adaptive footplant detection and enforcement for locomotion

Daniel Thalmann, Ronan Boulic, Pascal Glardon

A common problem in virtual character computer animation concerns the preservation of the basic foot-floor constraint (or footplant), consisting in detecting it before enforcing it. This paper describes a system capable of generating motion while continuou ...

Springer-Verlag2006

On the Stationary Distribution of Speed and Location of Random Waypoint

Jean-Yves Le Boudec

In ``Stationary Distributions for the Random Waypoint Mobility Model ...

2005

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