Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
Results
Showing 1 to 20 of 25 for “"robot motion planning"”.
-
Incremental geometric robot motion planning
… the notion of incremental problems in geometric robot motion planning, and give incremental algorithms to solve these problems efficiently. In particular, we present incremental algorithms to compute an exact cell decomposition of the collision-free portion of the robot configuration space for a …
-
Algorithms for Rectangular Robot Motion Planning
<p>With the proliferation of robot deployment in large-scale operations, such as warehouse management and manufacturing, there is an increasing need for multi-robot motion planning solutions. The basic multi-robot motion planning problem is to decide whether robots can translate from given start …
-
Robot Motion Planning With Visual Constraints
A computational approach to do motion planning on the ${\cal PCM}$ is developed. A modular multi-resolution grid representation is used to represent the ${\cal PCM}.$ Combined with a flexible multi-strategy search, this representation results in a hierarchical planner which is capable of generating …
-
Efficient Robot Motion Planning in Cluttered Environments
Robotics has become a part of the solution in various applications today: autonomous vehicles navigating busy streets, articulated robots tirelessly sorting packages in warehouses, feeding people in care homes and mobile robots assisting in rescue operations. Central to any robot that needs to …
-
Robot motion planning via curve shortening flows
Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2022-04-06 without embargo terms
-
Fast numerical algorithms for optimal robot motion planning
… autonomous tasks requires solving the optimal motion planning problem for a mobile robot. For example, to reach the desired destination on time, a self-driving car must quickly navigate streets and avoid hazardous obstacles such as buildings or other cars, as well as provide safety for …
-
A game-theoretic framework for robot motion planning
… perspective for a wide class of problems in robot motion planning. The framework provides a precise mathematical characterization that can incorporate any of the essential features of decision theory, stochastic optimal control, and traditional multiplayer games. The determination of …
-
Robot motion planning: configuration space exploration and estimation
Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2025-10-20 without embargo terms
-
Guesser--a heuristic approach to robot motion planning
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1991.
-
INFORMED EXPLORATION ALGORITHMS FOR ROBOT MOTION PLANNING AND LEARNING
… emerged as a promising technique for solving robot motion-planning problems. These algorithms avoid a priori discretization of the search-space by generating random samples and building a graph online. While the recent advances in this area endow these randomized planners with asymptotic …
-
Robot motion planning with contact from global pseudo-inverse map
In the robot motion planning problems, environment and its objects are often treated as obstacles to be avoided. However, there are situations where contacting with the environment is not costly. Moreover, in many cases, making contact can actually help a robot to maneuver around to reach a goal …
-
Robot Motion Planning for Tracking and Capturing Adversarial, Cooperative and Independent Targets
The last ten years have seen robots become smaller, lighter and more maneuverable than ever before, paving the way for their use in the service sector, and even in our homes. A key aspect that elevates a network of robots over a bed of sensors is the ability of individual units to autonomously …
-
MURPHY: A neurally-inspired connectionist approach to learning and performance in vision-based robot motion planning
… A simple vision-based kinematic controller and motion planner based on a connectionist network architecture has been developed, called MURPHY. The physical setup consists of a video camera and a Rhino XR-3 robot arm with three joints that move in the image plane of the camera. We assume no a …
-
Computational Methods for Natural Walking in Virtual Reality
… between the physical and virtual spaces, robot motion planning, and statistical models of human visual perception. Through a series of user studies and simulations, we show that our algorithms enable users to explore large VEs with fewer collisions, allow us to predict the navigability of …
-
Development of a user interface for processing geometric data from off-the-shelf CAD packages, and motion planning for YAMAHA Zeta-1 deburring robot
… of an interface to generate tool path for robot manipulators from CAD database. In engineering practice, CAD (Computer-Aided Design) has been utilized in different ways. Some utilize it to produce drawings and document designs. Some may employ it as a visual tool by generating shaded image …
-
Relatively robust grasping
… positional uncertainty. In the field of robot manipulation there has been a great deal of work on how to grasp objects stably, and in the field of robot motion planning there has been a great deal of work on how to find collision-free paths to those grasp positions. However, most of this …
-
Hybrid Concurrent Planning with Heterogeneous Robot Teams for Timed Goals
Robotic techniques in terms of mechanical design, perception, and planning have been improving at a dramatic rate. However, these advances for single autonomous systems will not be sufficient for many real-world applications, in which robots need to collaboratively complete tasks together given …
-
Towards Robust Planning for High-DoF Robots in Human Environments: The Role of Optimization
Robot motion planning has been a key component in the race to achieve true robot autonomy. It encompasses methods to generate robot motion that meets kinematic constraints, robot dynamics and that is safe (avoids colliding with the environment). It has been particularly successful in efficiently …
-
An extended Kalman filter extension of the augmented Markov decision process
As the field of robotics continues to mature, individual robots are increasingly capable of performing multiple complex tasks. As a result, the ability for robots to move autonomously through their environments is a fundamental necessity. If perfect knowledge of the robot's position is available, …
-
Video as the Language of Embodied Intelligence
… have extended Large Language Models (LLMs) to robotics by incorporating additional modalities, these adaptations face critical limitations in perception, grounding, and control. For example, spatial reasoning—a simple yet indispensable capability for robots—reveals one of such shortcoming …
Page 1 of 2