Geometric Uncertainty in Motion Planning: Summary Report1 and Bibliography

Bibliography/Bibliography of Geometric Motifs in Islamic Art: Geometric Motifs in the Mirror of Written Sources from Past to Present, Parvin Babaei and Somayeh Zadamiri

Pre-image Backchaining in Belief Space for Mobile Manipulation

As robots become more physically robust and capable of sophisticated sensing, navigation, and manipulation, we want them to carry out increasingly complex tasks. A robot that helps in a household must plan over the scale of hours or days, considering abstract features such as the desires of the occupants of the house, as well as detailed geometric models that support locating and manipulating o...

Planning Robust Motion Strategies for a Mobile Robot

This paper reports on a recent work we have conducted concerning the development and the implementation of a robust motion planner for a mobile robot in a polygonal environment and in presence of uncertainty in robot control and sensing. Such a planner takes explicitly into account the uncertainty in robot control and produces a robust motion plan composed of sensor-based motion commands. The m...

Robust Path Planning in the

347 Robust Path Planning in the Plane Fernando De la Rosa, Christian Laugier and Jos e N ajera Abstract|This work presents an approach to plan motion strategies for robotics tasks constrained by uncertainty in position, orientation and control. Our approach operates in a (x; y; ) con guration space and it combines two local functions: a contact-based attraction function and an exploration funct...

A Geometric Approach to Error Detection and Recovery for Robot Motion Planning with Uncertainty

Robots must plan and execute tasks in the presence of uncertainty. Uncertainty arises from sensing errors, control errors, and uncertainty in the geometric models o f the environment and o f the robot. The last, which we will call model uncertainty, has received little previous attention. In this paper we present a formal framework for computing motion strategies which are guaranteed to succeed...