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We present a new approach to motion planning under sensing and motion uncertainty by computing a locally optimal solution to a continuous partially observable Markov decision process (POMDP). Our approach represent beliefs (the distributions of the robot's state estimate) by Gaussian distributions and is applicable to robot systems with non-linear dynamics(More)
This paper presents empirical results to support the use of vibrotactile cues as a means of improving user performance on a spatial task. In a building-clearing exercise, directional vibrotactile cues were employed to alert subjects to areas of the building that they had not yet cleared, but were currently exposed to. Compared with performing the task(More)
—The Cloud infrastructure and its extensive set of Internet-accessible resources has potential to provide significant benefits to robots and automation systems. We consider robots and automation systems that rely on data or code from a network to support their operation, i.e., where not all sensing, computation , and memory is integrated into a standalone(More)
We present an approach to motion planning under motion and sensing uncertainty , formally described as a continuous partially-observable Markov decision process (POMDP). Our approach is designed for non-linear dynamics and observation models, and follows the general POMDP solution framework in which we represent beliefs by Gaussian distributions,(More)
A computer program was developed to allow easy derivation of steady-state velocity and binding equations for multireactant mechanisms including or without rapid equilibrium segments. Its usefulness is illustrated by deriving the rate equation of the most general sequential iso ordered ter ter mechanism of cotransport in which two Na+ ions bind first to the(More)
We present a novel approach for interactive navigation and planning of multiple agents in crowded scenes with moving obstacles. Our formulation uses a precomputed roadmap that provides macroscopic, global connectivity for wayfinding and combines it with fast and localized navigation for each agent. At runtime, each agent senses the environment independently(More)
Computing globally optimal motion plans requires exploring the configuration space to identify reachable free space regions as well as refining understanding of already explored regions to find better paths. We present the rapidly-exploring roadmap (RRM), a new method for single-query optimal motion planning that allows the user to explicitly consider the(More)
Steerable needles have the potential to improve the effectiveness of needle-based clinical procedures such as biopsy and drug delivery by improving targeting accuracy and reaching previously inaccessible targets that are behind sensitive or impenetrable anatomical regions. We present a new needle steering system capable of automatically reaching targets in(More)
This paper presents a technique for planning and controlling bevel-tip steerable needles towards a target location in 3-D anatomy under the guidance of partial, noisy sensor feedback. Our approach minimizes the probability that the needle intersects obstacles such as bones and sensitive organs by (1) explicitly taking into account motion uncertainty and(More)
—We present a new optimization-based approach for robotic motion planning among obstacles. Like CHOMP, our algorithm can be used to find collision-free trajectories from na¨ıve, straight-line initializations that might be in collision. At the core of our approach are (i) a sequential convex optimization procedure, which penalizes collisions with a hinge(More)