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— In this work, a motion planning approach for multi-robot grasping problems is presented. The proposed Multi-Robot-RRT planner controls multiple IK-RRT instances and evaluates grasp qualities for resulting multi-handed grasping conngurations until a global solution is found. Furthermore the Multi-Robot-RRT concept avoids deadlock situations which may(More)
Estimating probabilistic deformable template models is a new approach in the fields of computer vision and probabilistic atlases in computational anatomy. A first coherent statistical framework modelling the variability as a hidden random variable has been given byAllassonnì ere, Amit and Trouvé in [1] in simple and mixture of deformable template models. A(More)
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