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Probabilistic Roadmaps for Path Planning in High-Dimensional Configuration Spaces
TLDR
Experimental results show that the proposed roadmap method can eeciently solve problems which are beyond the capabilities of other existing methods.
A local based approach for path planning of manipulators with a high number of degrees of freedom
TLDR
This paper presents an alternative to the Potential Field Method of computing local collision-free motions for general manipulators by separating the description of the task from constraints of anti-collision, and discusses how to incorporate the action of a global planner in this general framework.
On computing three-finger force-closure grasps of polygonal objects
TLDR
A sufficient condition for force-closure grasps is proved that leads to a system of linear constraints in the position of the fingers along the polygonal edges that is found by a new projection algorithm based on linear parameter elimination accelerated by simplex techniques.
On computing three-finger force-closure grasps of polygonal objects
TLDR
A sufficient condition for force-closure grasps is proved that leads to a system of linear constraints in the position of the fingers along the polygonal edges that is found by a new projection algorithm based on linear parameter elimination accelerated by simplex techniques.
On Computing Two-Finger Force-Closure Grasps of Curved 2D Objects
This article presents an algorithm for computing force-closure grasps of piecewise-smooth, curved, two-dimensional objects. We consider the case of a gripper equipped with two hard fingers and assume
A practical exact motion planning algorithm for polygonal objects amidst polygonal obstacles
A general and simple algorithm is presented which computes the set FP of all free configurations for a polygonal object I (with m edges) which is free to translate and/or to rotate but not to
Efficient registration of stereo images by matching graph descriptions of edge segments
TLDR
This approach to the stereo-matching problem appears to be fast and robust enough for mobile robot navigation and three-dimensional part-positioning applications.
Obstacle avoidance using an octree in the configuration space of a manipulator
TLDR
This paper describes an algorithm transforming cartesian obstacles into obstacles in the space of the first three joints of a manipulator with six revolute joints, and giving a hierarchical description of the free space by mean of an octree.
Building visual maps by combining noisy stereo measurements
TLDR
The idea of a Realistic Uncertain Description of the Environment (RUDE) which is local, i.e attached to a specific reference frame, and incorporates both, information about the geometry and about the parameters measuring this geometry is introduced.
A practical exact motion planning algorithm for polygonal object amidst polygonal obstacles
A general and simple algorithm is presented which computes the set FP of all free configurations for a polygonal object I (with m edges) which is free to translate and/or to rotate but not to
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