Alejandro Lumbier

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This paper presents a novel algorithm to solve the robot formation path planning problem working under uncertainty conditions such as errors the in robot’s positions, errors when sensing obstacles or walls, etc. The proposed approach provides a solution based on a leader-followers architecture (real or virtual leaders) with a prescribed formation geometry(More)
This paper presents a novel methodology for planning the movements of a robotic hand when a precision grasp is going to be performed. The approach used is based on the standard Fast Marching Square (FM2) path planning method and its application to robot formations motion planning. In this case, the hand is considered to be a kinematic chain in which a(More)
This paper presents a novel methodology for planning the movements of a robotic hand when a precision grasp wants to be performed. This approach is based on the standard Fast Marching Square (FM2) path planning method recently introduced for robot formations. A three-finger kinematic chain is consider as a robot formation to perform simulations. In order to(More)
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