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128
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ICRA
2010
IEEE
15 years 5 months ago
2010
IEEE
— We present a new retraction algorithm for high DOF articulated models and use our algorithm to improve the performance of RRT planners in narrow passages. The retraction step i...
168
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DCG
1998
15 years 6 months ago
1998
The assumption of real-number arithmetic, which is at the basis of conventional geometric algorithms, has been seriously challenged in recent years, since digital computers do not...
146
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IROS
2007
IEEE
16 years 27 days ago
2007
IEEE
— We describe decentralized algorithms by which a swarm of simple, independent, autonomous robots can build two-dimensional structures using square building blocks. These structu...
183
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ICARCV
2006
IEEE
16 years 20 days ago
2006
IEEE
— In the simultaneous localization and mapping (SLAM) problem, a mobile robot must build a map of its environment while simultaneously determining its location within that map. W...
155
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ICRA
2006
IEEE
16 years 19 days ago
2006
IEEE
Abstract— We present a path planning algorithm for a polyhedral robot with six degrees of freedom (6DOF) and a static obstacle. The planner consists of a dual-tree RRT algorithm ...