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- Sanjeev Seereeram, John T. Wen
- ICRA
- 1993

This paper presents a new approach to path planning for m h ~ d a n t manipulatorsThe Path Planning Problem is PO& as a finite time nonlinear control problem which can be solved by a Newton-Raphson type algorithm together with an exterior penalty function as well as incorporating both joint and task space constraints. The algorithm has shown promising… (More)

- Cornel Sultan, Sanjeev Seereeram, Raman K. Mehra
- I. J. Robotics Res.
- 2007

Efficient algorithms for collision-free energy sub-optimal path planning for formations of spacecraft flying in deep space are presented. The idea is to introduce a set of way-points through which the spacecraft are required to pass, combined with parameterizations of the trajectories which are energy-optimal for each spacecraft. The resulting constrained… (More)

An efficient method for energy optimal reconfiguration of formation flying involving multiple spacecraft is presented. The idea is to introduce a set of way-points through which the spacecraft are required to pass combined with certain parameterization of the trajectories. The resulting energy optimal with collision avoidance constraints problem is… (More)

Autonomous rendezvous and docking is necessary for planned space programs such as DARPA ASTRO, NASA MSR, ISS assembly and servicing, and other rendezvous and proximity operations. Estimation of the relative pose between the host platform and a resident space object is a critical ability. We present a model-based pose refinement algorithm, part of a suite of… (More)

- E. Castro, Sanjeev Seereeram, J. Singh, Alan A. Desrochers, John T. Wen
- Journal of Intelligent and Robotic Systems
- 1993

- Cornel Sultan, Sanjeev Seereeram, Raman K. Mehra
- IEEE International Conference on Robotics and…
- 2004

An efficient method for the generation of collision free, energy optimal, reconfiguration trajectories with energy equalization constraints of formation flying is presented. The main idea is to introduce a set of way-points through which the spacecraft are required to pass combined with certain parameterizations of the trajectories. The resulting energy… (More)

- Adam Divelbiss, Sanjeev Seereeram, John T. Wen, Sanjeev Seereerarn
- 2005

Robots in applications may be subject to holonomic or nonholonomic constraints. Ezamples of holonomic constraints include a manipulator constrained through the contact with the environment, e.g., inserting a part, turning a crank, etc., and multiple manipulators constrained through a common payload. Ezamples of nonholonomic constraints include no-slip… (More)

- Sai-Ming Li, Sanjeev Seereeram, Raman K. Mehra, Chris Miles
- Data Mining and Knowledge Discovery: Theory…
- 2002

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