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We introduce the problem of computing robot motion strategies that maintain visibility of a moving target in a cluttered workspace. Both motion constraints (as considered in standard motion planning) and visibility constraints (as considered in visual tracking) must be satis-ed. Additional criteria, such as the total distance trav-eled, can be optimized.(More)
This article describes the robots that placed first and second in each event and compares their strategies and their resulting successes and difficulties. T he 1993 robot competition consisted of three distinct events: (1) Escape from the Office, (2) Office Delivery, and (3) Office Rearrangement. The unifying theme for these events was autonomous robotics(More)
This paper describes an integrated mobile robotic system dubbed the intelligent observer (IO). The IO is a mobile robot which moves through an environment (such as an ooce building or a factory) while autonomously observing moving targets selected by a human operator. The robot carries one or more cameras which allow it to track objects while at the same(More)
The University of Wisconsin–Madison Pediatric Pulmonary Center (UW PPC) provides interdisciplinary leadership training for graduate students and postgraduate professionals. The training includes a three-credit on-line course entitled Interdisciplinary Care of Children with Special Health Care Needs. This paper describes the course, the content and(More)
I'm revising this paper into a longer book; the paper represents about one quarter of the total length. am very grateful to all of them for their generosity with their time and ideas. The robots and experimental devices described herein were built in our lab these ideas could never have come to light without their help and experiments. I would furthermore(More)
The success of every mobile robot application hinges on the ability to navigate robustly in the real world. The problem of robust navigation is separable from the challenges faced by any particular robot application. We ooer the Real-World Navigator as a solution architecture that includes a path planner, a map-based localizer, and a motion control loop(More)
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