Sensing Intelligence Motion - How Robots & Humans Move - Vladimir J Lumelsky Part 6 pot
Sensing Intelligence Motion - How Robots & Humans Move - Vladimir J. Lumelsky Part 6 pot
... holonomic and, second,
Sensing, Intelligence, Motion, by Vladimir J. Lumelsky
Copyright 20 06 John Wiley & Sons, Inc.
139
PROBLEM STATEMENT 141
jogger’s mass and speed to the visible field ... information (Piano Mover’s model) and motion planning
with incomplete information [other names are sensor-based planning, or Sens-
ing Intelligence Motion (SIM)]. The idea is to use sen...
Sensing Intelligence Motion - How Robots & Humans Move - Vladimir J. Lumelsky Part 3 pot
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(2.15)
The ... r
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63 3
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Sensing Intelligence Motion - How Robots & Humans Move - Vladimir J. Lumelsky Part 15 pot
... appropriate
literature in such cases.
Sensing, Intelligence, Motion, by Vladimir J. Lumelsky
Copyright 20 06 John Wiley & Sons, Inc.
417
424 REFERENCES
56. V. Lumelsky. A comparative study on ... Sensor-Based Motion Planning
1. Sensor-based motion planning for multiple mobile robots:
•
Centralized motion planning: All or most commands to all robots come
from one cen...
Sensing Intelligence Motion - How Robots & Humans Move - Vladimir J. Lumelsky Part 1 doc
...
SENSING,
INTELLIGENCE,
MOTION
HOW ROBOTS AND HUMANS MOVE
IN AN UNSTRUCTURED WORLD
Vladimir J. Lumelsky
A JOHN WILEY & SONS, INC., PUBLICATION
ACKNOWLEDGMENTS
When ... the field, a smooth
motion and a less-than- wooden personality are not among them. A robotics
Sensing, Intelligence, Motion, by Vladimir J. Lumelsky
Copyright 20 06 John Wiley & Sons, Inc....
Sensing Intelligence Motion - How Robots & Humans Move - Vladimir J. Lumelsky Part 2 ppsx
... control
•
Compliant motion
•
Trajectory modification
•
Motion planning and collision avoidance; navigation
Sensing, Intelligence, Motion, by Vladimir J. Lumelsky
Copyright 20 06 John Wiley & Sons, ... approaches to the go-from-A-to-B problem into two
complementary groups—(1) motion planning with complete information and
(2) motion planning with incomplete information—is...
Sensing Intelligence Motion - How Robots & Humans Move - Vladimir J. Lumelsky Part 4 pptx
... information such as approximation of obstacles with
Sensing, Intelligence, Motion, by Vladimir J. Lumelsky
Copyright 20 06 John Wiley & Sons, Inc.
73
86 MOTION PLANNING FOR A MOBILE ROBOT
If point ... line is finite, we
have d(L
j
)>d(H
j +1
). This produces a chain of inequalities for all H and L
points,
d(H
1
)>d(L
1
)>d(H
2
)>d(L
2
)>d(H
3
)>d(L
3
)&...
Sensing Intelligence Motion - How Robots & Humans Move - Vladimir J. Lumelsky Part 5 pptx
... (S, H
j
) because otherwise at least a part of the straight-line seg-
ment (L
j −1
,H
j
) would be included inside the obstacle. This is impossible
VISION AND MOTION PLANNING 119
(a)(b)
S
L
j
T
Q
X
j
T
i
C
S
T
Q
L
j
X
j
T
i
C
Figure ... ROBOT
S
C
T
i
Q
T
S
T
H
j
T
i
H
j
C
Q
(a)(b)
L
j
Figure 3. 16 Illustration for Lemma 3 .6. 2: (a) Case 1. (b) Case 2.
2. This case is...
Sensing Intelligence Motion - How Robots & Humans Move - Vladimir J. Lumelsky Part 7 docx
... 181
q
1
q
2
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1
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q
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l
1
l
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a
b
(a)(b)(c)
(
d
)(
e
)
Figure 5.1 Five kinematically distinct two-link planar robot arms manipulators: ... utilization, overall investment, and engineering complexity
Sensing, Intelligence, Motion, by Vladimir J. Lumelsky
Copyright 20 06 John Wiley & Sons, Inc....
Sensing Intelligence Motion - How Robots & Humans Move - Vladimir J. Lumelsky Part 8 doc
... proximity (distance)
sensing (see Figure 5. 16) .
r
J
o
J
1
q
1
q
2
l
1
l
2
Figure 5. 16 Proximity sensing of this arm manipulator forms a sensing cushion around
the arm. The sensing range radius ... does this all relate to the actual motion of the arm manipulator in
W -space? The actual path in W-space whose reflection in C-space we just con-
sidered is shown in Figure 5.14. Th...
Sensing Intelligence Motion - How Robots & Humans Move - Vladimir J. Lumelsky Part 9 docx
... obstacle;
in Figure 5.23 these are lines 3-2 -1 and 5 -6 -7 .
•
The straight-line segment that is a part of the W -space boundary; in Fig-
ure 5.23, this is line 7-1 .
Of these, the first three segments ... robot sensing range
simply because in C-space the arm becomes a point. But that’s where the simi-
larity stops. Assume that the arm’s sensing allows it to sense objects in W -s...