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A complete and efficient algorithm is proposed for searching form-closure grasps of n hard fingers on the surface of a three-dimensional object represented by discrete points. Both frictional and frictionless cases are considered. This algorithm starts to search a form-closure grasp from a randomly selected grasp using an efficient local search procedure(More)
This paper presents a novel algorithm, called ISOGRID (isometric grid-based algorithm), for autonomous deployment of mobile sensor networks. Upon an initial random placement of sensor nodes, the algorithm iteratively computes node movements to enhance sensing coverage and avoid obstacles while ensuring sensor connectivity. The principle is to redeploy the(More)
Autonomous deployment of mobile agents for coverage enhancement is an important issue in wireless sensor networks. The major challenge lies in the requirement of efficient distributed and localized computing. In addition, managing the coverage of heterogeneous sensing model is complicated due to the diversity of sensing ranges and the irregularity of(More)
This paper addresses the problem of deploying a set of mobile sensor nodes of heterogeneous sensing ranges to give a large and connected coverage. A novel deployment algorithm based on the circle packing technique is given. It iteratively enhances the coverage area of the sensor network from an initial random deployment, while guarantees the absence of(More)
This paper presents a novel volumetric display based on projection on a non-planer and reconfigurable fog screen. Unlike conventional fog projection systems which produce 2D images on flat screens, our display scatters different parts of the projected image at different depth levels, thus allowing volumetric data to be displayed in the real 3D space. We(More)
Cloud computing framework can provide promising solutions for service robots to overcome various challenges in unstructured environments. In this paper, we present the design and implementation details of a novel cloud-based system architecture for robotic path planning. The proposed system, called Path Planning as a Service (PPaaS), is based on a(More)
This paper presents a novel algorithm for autonomous deployment of active sensor networks. The algorithm aims to enhance the sensing coverage based on an initial placement of sensor nodes. The sensing regions are modeled as circular discs of variable sensing range limits. The problem of placing these circular discs to cover a field is intuitively(More)
Traditional fog screens are 2D. We propose a new design of fog screen that can generate fog at different depth positions and at only where necessary. Our approach applies projection mapping onto a non-planar and reconfigurable fog screen, thus enabling interactive visual contents to be displayed at multiple depth levels. Viewers can perceive the(More)