Related papers: A Constrained Saddle Search Approach for Construct…
In this series of papers, we present a motion planning framework for planning comfortable and customizable motion of nonholonomic mobile robots such as intelligent wheelchairs and autonomous cars. In this first one we present the…
Stable dynamical systems are a flexible tool to plan robotic motions in real-time. In the robotic literature, dynamical system motions are typically planned without considering possible limitations in the robot's workspace. This work…
Robots will bring search and rescue (SaR) in disaster response to another level, in case they can autonomously take over dangerous SaR tasks from humans. A main challenge for autonomous SaR robots is to safely navigate in cluttered…
We consider a setting in which an evolving surface is implicitly characterized as the zero level of a level set function. Such an implicit surface does not encode any information about the path of a single point on the evolving surface. In…
Recent investigations on the longitudinal and lateral control of wheeled autonomous vehicles are reported. Flatness-based techniques are first introduced via a simplified model. It depends on some physical parameters, like cornering…
A rigidity theory is developed for bar-joint frameworks in $\mathbb{R}^{d+1}$ whose vertices are constrained to lie on concentric $d$-spheres with independently variable radii. In particular, combinatorial characterisations are established…
Sparse structures are frequently sought when pursuing tractability in optimization problems. They are exploited from both theoretical and computational perspectives to handle complex problems that become manageable when sparsity is present.…
The linearization of the equations of motion of a robotics system about a given state-input trajectory, including a controlled equilibrium state, is a valuable tool for model-based planning, closed-loop control, gain tuning, and state…
Gridshells are defined as structures that have the shape and rigidity of a double curvature shell but consist of a grid instead of a continuous surface. This study concerns those obtained by elastic deformation of an initially flat two-way…
A discrete tensegrity framework can be thought of as a graph in Euclidean n-space where each edge is of one of three types: an edge with a fixed length (bar) or an edge with an upper (cable) or lower (strut) bound on its length. Roth and…
Unlike their biological cousins, the majority of existing quadrupedal robots are constructed with rigid chassis. This results in motion that is either beetle-like or distinctly robotic, lacking the natural fluidity characteristic of…
The SLAM problem is known to have a special property that when robot orientation is known, estimating the history of robot poses and feature locations can be posed as a standard linear least squares problem. In this work, we develop a SLAM…
We study the rigidity of body-and-cad frameworks which capture the majority of the geometric constraints used in 3D mechanical engineering CAD software. We present a combinatorial characterization of the generic minimal rigidity of a subset…
Energy-minimizing constraint maps are a natural extension of the obstacle problem within a vectorial framework. Due to inherent topological constraints, these maps manifest a diverse structure that includes singularities similar to harmonic…
We consider the global rigidity problem for bar-joint frameworks where each vertex is constrained to lie on a particular line in $\mathbb R^d$. In our setting we allow multiple vertices to be constrained to the same line. Under a mild…
This paper proposes a new design method to determine the feasible set of parameters of translational or position/orientation decoupled parallel robots for a prescribed singularity-free workspace of regular shape. The suggested method uses…
We introduce and analyze a model for self-reconfigurable robots made up of unit-cube modules. Compared to past models, our model aims to newly capture two important practical aspects of real-world robots. First, modules often do not occupy…
We present a framework based on Clarke coordinates for spatial displacement-actuated continuum robots with an arbitrary number of joints. This framework consists of three modular components, i.e., a planner, trajectory generator, and…
We propose a constrained high-index saddle dynamics (CHiSD) method to search for index-$k$ saddle points of an energy functional subject to equality constraints. With Riemannian manifold tools, the CHiSD is derived in a minimax framework,…
The problem of coordination without a priori information about the environment is important in robotics. Applications vary from formation control to search and rescue. This paper considers the problem of search by a group of solitary…