Most mobile robots follow a modular sense-plan-act system architecture that can lead to poor performance or even catastrophic failure for visual inertial navigation systems due trajectories devoid of feature matches. Planning in belief space provides unified approach tightly couple the perception, planning and control modules, leading are robust noisy measurements disturbances. However, existin...

School of Mechanical Engineering Georgia Institute of Technology Atlanta, Georgia 30332 This paper describes a new technique for deriving dynamic equations of motion for serial chain and tree topology mechanisms with common nonholonomic constraints. For each type of nonholonomic constraint, the Boltzmann-Hamel equations produce a concise set of dynamic equations. These equations are similar to ...

Title of Dissertation: Motion Control for Nonholonomic Systems on Matrix Lie Groups Herbert Karl Struemper, Doctor of Philosophy, 1997 Dissertation directed by: Professor P. S. Krishnaprasad Department of Electrical Engineering In this dissertation we study the control of nonholonomic systems defined by invariant vector fields on matrix Lie groups. We make use of canonical constructions of coor...

This paper describes a local planning, control and learning framework enabling high-speed autonomous groundvehicle traversal of rough 3D terrain replete with bumps, berms, banked-turns and even jumps. We propose an approach based on fast physical simulation and prediction, which we find offers numerous benefits: first, it takes advantage of the full expressiveness of the inherently non-linear, ...

This paper presents an interactive environment available on the WorldWide Web intended to allow fair and thourough comparison of diierent techniques to solve a basic problem in nonholonomic motion planning. By connecting to the server, the user, potentially unaware of the technical subtleties of the planning problem , but well conscious of his application needs, can design the benchmark problem...

Jaydev Desai, Chau-Chang Wang, Milo s Zefran and Vijay Kumar General Robotics and Active Sensory Perception (GRASP) Laboratory, University of Pennsylvania 3401 Walnut Street, Room 301C, Philadelphia, PA 19104-6228 Abstract We address the motion planning for \ xtureless" material-handling with multiple manipulators on nonholonomic carts. The mobile manipulators possess the ability to manipulate ...

| This paper 0 deals with motion planning and control for mobile robots. The various components of an integrated architecture for the mobile robot Hilare pulling a trailer are presented. The nonholonomic path planner is based on an original steering method accounting for the small-time controllability of the system. Then the path is transformed into a trajectory by including the dynamical const...

| This paper deals with motion planning and control for mobile robots. The various components of an integrated architecture for the mobile robot Hilare pulling a trailer are presented. The nonholonomic path planner is based on an original steering method accounting for the small-time controllability of the system. Then the path is transformed into a trajectory by including the dynamical constra...

We would like to give robots the ability to position and orient Erratum: Figures 13 and 15 are transposed. parts in the plane by pushing, particularly when the parts are too large or heavy to be grasped and lifted. Unfortunately, the motion of a pushed object is generally unpredictable due to unknown support friction forces. With multiple pushing contact points, however, it is possible to find ...

Spherical robot is a nonlinear, nonholonomic and unstable system which increases the difficulty of direction trajectory tracking problem. In this study, we propose new controller HTSMC, an instruction planning MPC, framework MHH. The HTSMC designed by integrating fast terminal algorithm, hierarchical method, motion features spherical robot, its dynamics. addition, has excellent control effect w...