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...

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... =        D 11 D 12 D 13 D 14 D 15 D 16 D 12 D 22 D 23 D 24 D 25 D 26 D 13 D 23 D 33 D 34 D 35 D 36 D 14 D 24 D 34 D 44 D 45 D 46 D 15 D 25 D 35 D 45 D 55 D 56 D 16 D 26 D 36 D 46 D 56 D 66            (2.15) The ... r 2 cθ 4 sθ 5  + m 6  1 2 (−k 2 61 1 + k 2 62 2 + k 2 63 3 )  (sθ 2 sθ 5 cθ 6 − cθ 2 sθ 4 cθ 5 cθ 6 − cθ 2 cθ 4 sθ 6 ) 2 + (c...

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... 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...

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... 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....

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... 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...

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... 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 )&...

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... (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...

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... 181 q 1 q 2 q 1 q 1 l 2 l 1 l 2 l 1 l 1 l 2 J o J o J o J o J o J 1 J 1 J 1 J 1 J 1 q 2 l 1 l 2 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....

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... 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...

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... 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...

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