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This paper introduces the iRobot-Harvard-Yale (iHY) Hand, an underactuated hand driven by 5 actuators that is capable of performing a wide range of grasping and in-hand repositioning tasks. This hand was designed to address the need for a durable, inexpensive, moderately dexterous hand suitable for use on mobile robots. The primary focus of this paper will(More)
Vehicle routing problems (VRP's) involve assigning a fleet of limited capacity service vehicles to service a set of customers. This paper describes an innovative, agent-based approach to solving a real-world vehicle-routing problem embedded in a highly dynamic, unpredictable domain. Most VRP research, and all commercial products for solving VRP's, make a(More)
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