We consider the problem of planning the motion of an arbitrary k-sided polygonal robot B, free to translate and rotate in a polygonal environment V bounded by n edges. We show that the combinatorial complexity of a si...
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We consider the problem of planning the motion of an arbitrary k-sided polygonal robot B, free to translate and rotate in a polygonal environment V bounded by n edges. We show that the combinatorial complexity of a single connected component of the free configuration space of B is k/sup 3/n/sup 2/2/sup O(log(2/3)/ n). This is a significant improvement of the naive bound O((kn)/sup 3/); when k is constant, which is often the case in practice, this yields a near-quadratic bound on the complexity of such a component, which almost settles (in this special case) a long-standing conjecture regarding the complexity of a single cell in a three-dimensional arrangement of surfaces. We also present an algorithm that constructs a single component of the free configuration space of B in time O(n/sup 2+/spl epsi//), for any /spl epsi/>0, assuming B has a constant number of sides. This algorithm, combined with some standard techniques in motion planning, yields a solution to the underlying motion planning problem, within the same asymptotic running time.< >
A new fuzzy reasoning is proposed so that the conclusion consists of a function of mean-values on each membership function in antecedent. It is then shown that the constant parameters in conclusion can be rationally d...
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A new fuzzy reasoning is proposed so that the conclusion consists of a function of mean-values on each membership function in antecedent. It is then shown that the constant parameters in conclusion can be rationally designed from the view point of a control theory, if the conclusion is regarded as a sliding controller with the mean values in antecedent as state variables.
The problem of manipulation planning in the presence of uncertainty is addressed. The worst-case planning techniques introduced in Lozano-Perez, Mason, and Taylor (1984) are reviewed. It is shown that these methods ar...
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The problem of manipulation planning in the presence of uncertainty is addressed. The worst-case planning techniques introduced in Lozano-Perez, Mason, and Taylor (1984) are reviewed. It is shown that these methods are limited by an information gap inherent to worst-case analysis techniques. As the task uncertainty increases, these methods fail to produce useful information even though a high-quality plan may exist. To fill this gap, the probabilistic backprojection, which describes the likelihood that a given action will achieve the task goal from a given initial state is presented. A constructive definition of the probabilistic backprojection and related probabilistic models of manipulation task mechanics is provided. It is shown how these models unify several past results in manipulation planning. These models capture the fundamental nature of the task behavior, but appear to be very complex. Methods for computing these models are sketched. Efficient computational methods remain unknown.< >
Control methods based on using the relative motion between the manipulator and the workpiece are described for controlling the force of a one-dimensional manipulator, in which it is assumed that there are no collision...
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Control methods based on using the relative motion between the manipulator and the workpiece are described for controlling the force of a one-dimensional manipulator, in which it is assumed that there are no collisions between the manipulator and the workpiece and we use a computed force law which is similar to the computed torque law in the trajectory tracking problem of a manipulator. We consider two cases depending on whether the position and velocity of the workpiece (or end-effector) are available or not to calculate the computed force control. The effectiveness of the proposed control methods is illustrated by some computer simulations.
The vehicle routing problem with time deadlines (VRPTD) is an extension of the classical vehicle routing problem (VRP) withconstraints on the latest allowable time (deadline) for servicing each customer. The objective...
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A new concept for navigation of mobile robots based on the planary coded environment (PLACER) is presented, which enables the coordination of several mobile robots in a real manufacturing environment. It is a path ind...
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A new concept for navigation of mobile robots based on the planary coded environment (PLACER) is presented, which enables the coordination of several mobile robots in a real manufacturing environment. It is a path independent external navigation system with passive environment structuring over the entire movement area of the robots. This area is completely covered with tiles, each containing the coordinates of its centre point inscribed using an error correcting code
Harmonic functions provide a method for implementing potentialfield path planning. Since they produce smooth vector fields which are free of spurious local minima, they also provide an ideal mechanism for implementing...
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In a system which controls the actions of mobile robots in an indoor environment, a main issue to be addressed is reactive planning. The system described here enables robots to perform nonelementary tasks in an enviro...
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Harmonic functions are solutions to Laplace's Equation. As noted in a previous paper, they can be used to advantage for potential-field path planning, since they do not exhibit spurious local minima. In this paper...
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A methodology is presented for planning fine motions for assembly operations in the presence of position, velocity, and model uncertainty. A nominal assembly motion plan, computed without regard to the effects of unce...
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