Exploration is a challenging tasks in mobile robotics, which has been discussed to a great extend for ground robots. Its application on Micro Aerial Vehicles (MAVs), however, produces unique challenges. In this paper we present an approach for map-exploration designed for a quadrotor helicopter navigating through GPS-denied indoor envirionment using a single fisheye camera as primary sensor. Ba...

Micro aerial vehicles (MAVs) are an exciting technology for mobile sensing of infrastructure as they can easily position sensors in to hard to reach positions. Although MAVs equipped with 3D sensing are starting to be used in industry, they currently must be remotely controlled by skilled pilot. In this paper we present an exploration path planning approach for MAVs equipped with 3D range senso...

in this paper we present a new method for tool-path generation and adaptive interpolation for a three-axis cnc milling machine. this method satisfied the force and / or the error conditions by using a variable-direction variable-feedrate strategy based on maximum feedrate map. the proposed adaptive interpolator modifies the cutting path and the moving direction according to the actual instantan...

This paper addresses rover path planning for wide-area exploration on remote planetary surfaces using the Incremental A-r-Star pathfinder algorithm. Given an initial terrain map derived from satellite imagery or images captured by a lander during descent as well as onboard 3D range sensors, a rover plans a safe and suboptimal path from location to location and through boulder fields while avoid...

When mobile robots execute autonomous tasks, map information is important in path planning and selflocalization. In unknown environments, mobile robots must generate their own environmental maps. This paper proposes three-dimensional (3D) environment modeling by a mobile robot. The model is generated from results of 3D measurement and texture information. To measure environmental objects effici...

Abstract Map information is important for path planning and self-localization when mobile robots accomplish autonomous tasks. In unknown environments, however, mobile robots should generate an environment map by themselves. We propose a method for 3D environment modeling by a mobile robot. A 3D environment model can be generaterd from the result of 3D measurement using image data. To realize a ...

Map information is important for path planning and self-localization when mobile robots accomplish autonomous tasks. In unknown environments, however, mobile robots should generate an environment map by themselves. We propose a method for 3D environment modeling by a mobile robot. A 3D environment model can be generaterd from the result of 3D measurement using image data. To realize a 3D measur...

Path planning for walking characters in complicated virtual environments is a fundamental task in simulations and games. A navigation mesh is a data structure that allows efficient path planning. The Explicit Corridor Map (ECM) is a navigation mesh based on the medial axis. It enables path planning for disk-shaped characters of any radius. In this paper, we formally extend the medial axis (and ...

This paper presents some evolutions over the locomotion planning problem for digital actors. The solution is based both on probabilistic motion planning and on motion capture blending and warping. The paper particularly focuses on a new collision avoidance technique: while the legs and the pelvis of the digital actor follow a planned path, the animation of the upper part of the body is updated ...