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)
DISCLAIMER: The information contained in this paper does not represent the official policies, either expressed or implied, of the Defense Advanced Research Projects Agency (DARPA) or the Department of Defense. DARPA does not guarantee the accuracy or reliability of the information in this paper. Executive Summary This paper describes Team Caltech's(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)
This paper asks how many cooperating homogeneous robots are required to perform a block pushing task in a known environment. This task is particularly challenging in the presence of a highly cluttered obstacle field where the connectivity of the robots' free configuration space depends on the block's configuration. In order to simplify the problem, we(More)
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