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— We consider mobile robot navigation in dense human crowds. In particular, we explore two questions. Can we design a navigation algorithm that encourages humans to cooperate with a robot? Would such cooperation improve navigation performance? We address the first question by developing a probabilistic predictive model of cooperative collision avoidance and(More)
— This paper develops an estimation framework for sensor-guided dual-arm manipulation of a rigid object. Using an unscented Kalman Filter (UKF), the approach combines both visual and kinesthetic information to track both the manipulators and object. From visual updates of the object and manipulators, and tactile updates, the method estimates both the(More)
— This paper presents a method whereby an autonomous mobile robot can search for a 3-dimensional (3D) object using an on-board stereo camera sensor mounted on a pan-tilt head. Search efficiency is realized by the combination of a coarse-scale global search coupled with a fine-scale local search. A grid-based probability map is initially generated using the(More)
We consider the problem of navigating a mobile robot through dense human crowds. We begin by exploring a fundamental impediment to classical motion planning algorithms called the ''freezing robot problem'': once the environment surpasses a certain level of dynamic complexity, the planner decides that all forward paths are unsafe, and the robot freezes in(More)
This article presents the hardware design and software algorithms of RoboSimian, a statically stable quadrupedal robot capable of both dexterous manipulation and versatile mobility in difficult terrain. The robot has generalized limbs and hands capable of mobility and manipulation , along with almost fully hemispherical 3D sensing with passive stereo(More)