Sampling-based motion planners are an effective means for generating collision-free motion paths. However, the quality of these motion paths, with respect to different quality measures such as path length, clearance, smoothness or energy, is often notoriously low. This problem is accentuated in the case of non-holonomic sampling-based motion planning, in which the space of feasible motion traje...

We explore a particular approach to the analysis of dynamical and geometrical properties of autonomous, Pfaffian non-holonomic systems in classical mechanics. The method is based on the construction of a certain auxiliary constrained Hamiltonian system, which comprises the non-holonomic mechanical system as a dynamical subsystem on an invariant manifold. The embedding system possesses a complet...

This paper proposes the use of optical flow from a moving robot to provide force feedback to an operator’s joystick to facilitate collision free teleoperation. Optical flow is measured by a pair of wide angle cameras on board the vehicle and used to generate a virtual environmental force that is reflected to the user through the joystick, as well as feeding back into the control of the vehicle....

The goal of this project is to create a physical interactive jousting game using two competitive holonomic robots. Each robot consists of a basic twowheeled platform equipped with a joust and a hitbox sensor region (a shield) that will register loss of life points when hit. Through a robot-computer interface, vehicles can be controlled either by a user via a Nintendo Wii Remote or by an AI algo...

We apply the holonomic gradient method (HGM) introduced by [9] to the calculation of orthant probabilities of multivariate normal distribution. The holonomic gradient method applied to orthant probabilities is found to be a variant of Plackett’s recurrence relation ([14]). However a straightforward implementation of the method yields recurrence relations more suitable for numerical computation ...

— Holonomic and semi-holonomic geometries modelled on a homogeneous space G/P are introduced as reductions of the holonomic or semi-holonomic frame bundles respectively satisfying a straightforward generalization of the partial differential equation characterizing torsion–free linear connections. Under a suitable regularity assumption on the model space G/P we establish an equivalence of catego...

This paper proposes the use of optical flow from a moving robot to provide force feedback to an operator’s joystick to facilitate collision free teleoperation. Optic flow is measured by a pair of wide angle cameras on board the vehicle and used to generate a virtual environmental force that is reflected to the user through the joystick, as well as feeding back into the control of the vehicle. W...