Related papers: Complexity of the forward kinematic map
Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…
Multisection continuum arms offer complementary characteristics to those of traditional rigid-bodied robots. Inspired by biological appendages, such as elephant trunks and octopus arms, these robots trade rigidity for compliance, accuracy…
Evaluating the pinch capability of a robotic hand is important for understanding its functional dexterity. However, many existing grasp evaluation methods rely on object geometry or contact force models, which limits their applicability…
Software implements a significant proportion of functionality in factory automation. Thus, efficient development and the reuse of software parts, so-called units, enhance competitiveness. Thereby, complex control software units are more…
Analytical approach to SLAM problem was introduced in the recent years. In our work we investigate the method numerically with the motivation of using the algorithm in a real hardware experiments. We perform a robustness test of the…
We introduce a compactification of the group of rigid motions in 3-space derived from the Study model for this group. We use this compactifi-cation in robot kinematics, by considering the boundary of the configuration space of a robot. We…
Piecewise affine maps (PAMs) are frequently used as a reference model to show the openness of the reachability questions in other systems. The reachability problem for one-dimentional PAM is still open even if we define it with only two…
An algorithm for robot formation path planning is presented in this paper. Given a map of the working environment, the algorithm finds a path for a formation taking into account possible split of the formation and its consecutive merge. The…
The functional demands of robotic systems often require completing various tasks or behaviors under the effect of disturbances or uncertain environments. Of increasing interest is the autonomy for dynamic robots, such as multirotors, motor…
We present in-hand manipulation tasks where a robot moves an object in grasp, maintains its external contact mode with the environment, and adjusts its in-hand pose simultaneously. The proposed manipulation task leads to complex contact…
Progress in the last decade has brought about significant improvements in the accuracy and speed of SLAM systems, broadening their mapping capabilities. Despite these advancements, long-term operation remains a major challenge, primarily…
A central aspect of robotic motion planning is collision avoidance, where a multitude of different approaches are currently in use. Optimization-based motion planning is one method, that often heavily relies on distance computations between…
Online generation of collision free trajectories is of prime importance for autonomous navigation. Dynamic environments, robot motion and sensing uncertainties adds further challenges to collision avoidance systems. This paper presents an…
We study the computational complexity of optimally solving multi-robot path planning problems on planar graphs. For four common time- and distance-based objectives, we show that the associated path optimization problems for multiple robots…
Identifying and categorizing specific robot tasks, behaviors, and resources is an essential precursor to reproducing and evaluating robotics experiments across laboratories and platforms. Without some means of capturing how one environment,…
This work establishes a solution to the problem of assessing the capacity of multi-object assemblies to withstand external forces without becoming unstable. Our physically-grounded approach handles arbitrary structures made from rigid…
The map-matching is an essential preprocessing step for most of the trajectory-based applications. Although it has been an active topic for more than two decades and, driven by the emerging applications, is still under development. There is…
Simultaneous localisation and mapping (SLAM) is the problem of autonomous robots to construct or update a map of an undetermined unstructured environment while simultaneously estimate the pose in it. The current trend towards self-driving…
This thesis is concerned with deriving planning algorithms for robot manipulators. Manipulation has two effects, the robot has a physical effect on the object, and it also acquires information about the object. This thesis presents…
The pattern formation task is commonly seen in a multi-robot system. In this paper, we study the problem of forming complex shapes with functionally limited mobile robots, which have to rely on other robots to precisely locate themselves.…