Reliably planning fingertip grasps for multi-fingered hands lies as a key challenge many tasks including tool use, insertion, and dexterous in-hand manipulation. This task becomes even more difficult when the robot lacks an accurate model of object to be grasped. Tactile sensing offers promising approach account uncertainties in shape. However, current robotic tend lack full tactile coverage. A...

The Computer Vision Laboratory at the University of Maryland is designing and de:reloping a vision system for autonomous ground navigation. Our approach to visual navigation segments the task into three levels called long range, intermediate range and short range navigation. At the long range, one would first generate a plan for the day's outing, identifying the starting location, the goal, and...

information and communication technology (ict) has transformed how we live our lives and the way we interact in different contexts. benefits of ict and its upcoming efficiencies (i.e. energy efficiency) are becoming the heart of many public services’ reforms which have influenced the time, distance and space concepts. at present, not only there is a lack of clarity about what high-quality ictba...

In this paper, we give a double twist to the problem of planning under uncertainty. State-of-the-art planners seek to minimize the localization uncertainty by only considering the geometric structure of the scene. In this paper, we argue that motion planning for vision-controlled robots should be perception aware in that the robot should also favor texture-rich areas to minimize the localizatio...

This paper describes a mobile robot project which couples both a vision system and a planning system. In particular, we describe how a world model is constructed in the vision system, and how this is utilised in the generation of a point-to-point path for the robot. We show, that through similar techniques, two qualitatively differing plans may be generated namely the economical path, and the c...

This paper presents a receding horizon planning algorithm for vision-based navigation using bearings-only SLAM that adapts the planning horizon to the velocity of the information gained about the environment. Bearings-only SLAM has an inherent dynamic observability property such that specific motion is needed in order to determine the relative positions between the camera and obstacles. Thus, t...

While vision and proprioception can both provide information about arm configuration prior to movement, substantial evidence suggests that each modality is used for different stages of the planning process. In this chapter, we provide support for the idea that vision is mainly used to define the trajectory and the kinematics of reaching movements. Proprioception appears to be critical in the tr...