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检索条件"机构=New York Center for Advanced Technology in Automation and Robotics"

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Fuzzy distance functions for motion planning

Fuzzy distance functions for motion planning

引用

International Conference on Tools for Artificial Intelligence (ICTAI)

作者： K. Sridharan H.E. Stephanou New York State Center for Advanced Technology in Automation and Robotics Rensselaer Polytechnic Institute Troy NY USA

The problem of planning motions offline for a robot in the presence of obstacles via an algorithm that does not proceed by a discretization of the search space involves defining good heuristics to characterize the proximal relationships between two rigid bodies and the development of algorithms for their computation. Several measures are presented, and schemes for their computation are developed. The performances of the algorithms are determined in terms of their running time. The advantage of the fuzzy model is that it lends itself easily to numerical computation involving manipulation of the coordinates of the extreme points.< >

关键词： Motion planning robotics and automation Fuzzy sets Robots Bandwidth Motion measurement Motion detection Manipulators Euclidean distance Algorithm design and analysis

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A global approach to nonholonomic motion planning

A global approach to nonholonomic motion planning

引用

IEEE Conference on Decision and Control

作者： A.W. Divelbiss J. Wen New York State Center for Advanced Technology in Robotics and Automation Rensselaer Polytechnic Institute Troy NY USA

The kinematic path planning problem of a nonholonomic system can be posed as a point-to-point control problem of a nonlinear system. This system has the property that it is not locally stabilizable but is globally controllable. The authors present a new algorithm for constructing a feasible path between specified initial and final configurations. The algorithm iteratively warps the entire path until all the constraints are satisfied. Polyhedral constraints in both configuration and nonconfiguration spaces (possibly nonconvex) can also be incorporated in this framework. The algorithm is based on the assumption that the system is usually controllable about a nontrivial trajectory, which is true for many cases. An initial trajectory is iteratively warped until the desired final configuration is reached. Examples of a front-wheel driven car and of tractors with one, two, and three trailers are included to illustrate the efficacy of the proposed algorithm.< >

关键词： Iterative algorithms Control systems Kinematics Path planning Position control Nonlinear systems

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On the derivation of geometric constraints in stereo

On the derivation of geometric constraints in stereo

引用

Conference on Computer Vision and Pattern Recognition (CVPR)

作者： C.V. Stewart Department of Computer Science and New York State Center for Advanced Technology in Automation and Robotics Rensselaer Polytechnic Institute Troy NY USA

Probability density functions (PDFs) are derived for many of the geometric measurements upon which stereo matching techniques are based, including orientation differences between matching line segments or curves, the gradient of disparity, the directional derivative of disparity, and disparity differences between matches. The PDFs resulting from the transformations are used to critically examine many existing stereo techniques. Several techniques based on these PDFs are proposed.< >

关键词： Layout Cameras Geometry robotics and automation Probability density function Image segmentation Solid modeling Jacobian matrices Measurement uncertainty Computer science

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Fuzzy proximity measures for robot grasp planning

Fuzzy proximity measures for robot grasp planning

引用

IEEE International Symposium on Intelligent Control (ISIC)

作者： K. Sridharan H.E. Stephanou New York State Center for Advanced Technology in Automation and Robotics and Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

Fast procedures for computing fuzzy proximity measures between a multifingered robot hand and an object to be grasped are presented. T.N. Nguyen and H.E. Stephanou (1990) presented a fuzzy approach for prehension, identified sources of fuzziness, and proposed a fuzzy algorithm for multifingered prehension. These ideas are extended by assuming fuzziness in the object location and geometric hand configuration, computing information on proximity of the hand and object, analyzing the computational efficiencies, and indicating how geometric information can be used in the process of prehension. The implementation details are outlined. The computation is useful in grasp planning and in analyzing the local behavior of the robot hand in the vicinity of the object.< >

关键词： Robots robotics and automation Solid modeling Paper technology Systems engineering and theory Fuzzy systems Electric variables measurement Fingers Kinematics End effectors

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The Window Corner Algorithm For Planning Translational Paths Among Polyhedral Subassemblies

The Window Corner Algorithm For Planning Translational Paths...

引用

IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： S.S. Krishnan A.C. Sanderson New York State Center for Advanced Technology in Automation and Robotics and Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

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Finding a sequence of sensor operations for volumetric inspection

Finding a sequence of sensor operations for volumetric inspe...

引用

IEEE International Conference on Systems, Man and Cybernetics

作者： G.H. Tarbox S.N. Gottschlich L.A. Gerhardt New York State Center for Advanced Technology in Robotics and Automation Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

A system for exhaustively inspecting a workpiece, not merely certain features, is presented. The system is based on comparing a volumetric representation of a reference object to a volumetric representation of an actual object iteratively created from sensor data. The use of volumetric representations gives this approach a number of distinct advantages over the more traditional boundary-based inspection methods. The method is capable of handling arbitrarily complex geometries and does not rely on the identification of features. It lends itself naturally to a multisensor environment, and facilitates true 3-D inspection as opposed to methods that require dimensional reductions of data by projection onto a 2-D plane. The authors focus on an important aspect of volumetric inspection which is the automatic generation of a sequence of sensor operations that will acquire the complete geometry of the object being inspected.< >

关键词： Inspection Geometry robotics and automation Casting Space technology Sensor systems Solid modeling Systems engineering and theory Sensor phenomena and characterization Production

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An Information Theoretic Approach To Approximate Reasoning

An Information Theoretic Approach To Approximate Reasoning

引用

IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： S.N. Gottschlich H.E. Stephanou New York State Center for Advanced Technology in Automation and Robotics and Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

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Volumetric Based Inspection

Volumetric Based Inspection

引用

IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： G.H. Tarbox S.N. Gottschlich L.A. Gerhardt Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute New York State Center for Advanced Technology in Robotics and Automation Troy NY USA

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A Perturbation Refinement Method for Nonholonomic Motion Planning

A Perturbation Refinement Method for Nonholonomic Motion Pla...

引用

American Control Conference (ACC)

作者： A.W. Divelbiss J. Wen New York State Center for Advanced Technology in Robotics and Automation Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

The kinematic path planning problem of a nonholonomic system can be posed as a point-to-point control problem of a nonlinear system. This system has the property that it is not locally stabilizable but is globally controllable. In this paper, we present a new algorithm for constructing a feasible path between specified initial and final configurations. Polyhedral constraints in both configuration and non-configuration spaces (possibly non-convex) can also be incorporated in this framework. The algorithm is based on the assumption that the system is usually controllable about a non-trivial trajectory, which is true for many cases. An initial trajectory is iteratively warped until the desired final configuration is reached. Examples of a front-wheel driven car, and tractors with one, two, and three trailers are included to illustrate the efficacy of the proposed algorithm.

关键词： Control systems Kinematics Adaptive control Convergence Iterative algorithms Motion planning robotics and automation Systems engineering and theory Path planning Position control

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Optimal Motion Planning for Collision Avoidance of Mobile Robots in Non-stationary Environments

Optimal Motion Planning for Collision Avoidance of Mobile Ro...

引用

American Control Conference (ACC)

作者： K.J. Kyriakopoulos G.N. Saridis New York State Center for Advanced Technology in Automation and Robotics Rensaelaer Polytechnic Institute Troy NY 12160-3590 Rensselaer Polytechnic Institute Troy NY USA

An optimal control formulation of the problem of collision avoidance of mobile robots moving in general terrains containing moving obstscles is presented. A dynamic model of the mobile robot and the dynamic constraints are derived. Collision avoidance is guaranteed if the minimum distance between the robot and the objects is nonzero. A nominal trajectory is assumed to be known from off-line planning. The main idea is to change the velocity along the nominal trajectory so that collisions are avoided. Furthermore, time consistency with the nominal plan is desirable. A numerical solution of the optimization problem is obtained. A perturbation control type of approach is used to update the optimal plan. Simulation results verify the value of the proposed strategy.

关键词： Motion planning Collision avoidance Mobile robots robotics and automation Optimal control Orbital robotics Path planning Robot sensing systems Tellurium Planing

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