Laura Lindzey

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This paper describes the implementation and testing of Alice, the California Institute of Technology's entry in the 2005 DARPA Grand Challenge. Alice utilizes a highly networked control system architecture to provide high performance, autonomous driving in unknown environments. Innovations include a vehicle architecture designed for efficient testing in(More)
Planning for multirobot manipulation in dense clutter becomes particularly challenging as the motion of the manipulated object causes the connectiv-ity of the robots' free space to change. This paper introduces a data structure, the Feasible Transition Graph (FTG), and algorithms that solve such complex motion planning problems. We define an equivalence(More)
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