Titlebook: Algorithmic Foundations of Robotics V; Jean-Daniel Boissonnat,Joel Burdick,Seth Hutchinso Book 2004 Springer-Verlag Berlin Heidelberg 2004

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A Delaunay Approach to Interactive Cutting in Triangulated Surfaces,triangle meshes in two dimensions, and then generalize it to three dimensional curved surfaces, where bifurcations and annihilations of incisions may occur. This method could be applied to simulating surgery of membrane-like structures, such as veins or intestine.

灰姑娘

Stochastic Conformational Roadmaps for Computing Ensemble Properties of Molecular Motion,configurations. Hence the connectivity of a robot’s free space can be captured effectively by a network of randomly sampled configurations. In this paper, a similar intuition is exploited to preprocess molecular motion pathways and efficiently compute their ensemble properties, i.e., properties char

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View Planning via Maximal C-space Entropy Reduction, general robot-sensor systems. The robot plans the next sensing action to maximally reduce the expected C-space entropy, also called the maximal expected entropy reduction, or MER criterion. The expected C-space entropy computation, however, made two idealized assumptions. The first was that the sen

大喘气

Exact and Distributed Algorithms for Collaborative Camera Control,e it, we propose a new piecewise linear metric, Intersection Over Maximum (IOM), for the degree of satisfaction for each users. To maximize overall satisfaction, we present several algorithms. For a discrete set of . distinct zoom levels, we give an exact algorithm that runs in .(...) time. The algo

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Shape Complexes for Metamorhpic Robots,the system. We introduce a mathematical framework for defining and analyzing general metamorphic systems. This formal structure combined with ideas from geometric group theory leads to a natural extension of a configuration space for metamorphic systems — the . — which is especially adapted to paral

联想记忆

Flexonics,nic elements based on 3D printing techniques, in particular inkjet printing. This paper outlines some principles for flexonic design, which is based on flexion rather than sliding or rolling motion as in traditional mechanics. It describes our preliminary explorations of materials and processes. And

加花粗鄙人

Coordinating Multiple Robots with Kinodynamic Constraints along Specified Paths, generate continuous velocity profiles for multiple robots that avoids collisions and minimizes the completion time. The approach, which combines techniques from optimal control and mathematical programming, consists of identifying collision segments along each robot’s path, and then optimizing the

Sedative

Hybrid Motion Planning: Coordinating Two Discs Moving among Polygonal Obstacles in the Plane,to determine that no such motion exists. The basic problem as well as numerous variants of it have been intensively studied over the past two decades yielding a wealth of results and techniques, both theoretical and practical. In this paper, we propose a novel approach to motion planning, ., in whic

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Decentralized Algorithms for Multirobot Manipulation via Caging,ues that are typically derived from form or force closure constraints, object closure requires the less stringent condition that the object be trapped or caged by the robots. Our basic goal in this paper is to develop decentralized control policies for a group of robots to achieve a condition of obj

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Communication Complexity of Multi-robot Systems,quires, the better it should scale to large numbers of robots. To that end, we introduce a notion of . of multi-robot (or more generally, distributed control) systems as a surrogate for coordination. We describe a formalism, called CCL, for specifying multi-robot systems and algorithms for which the