The problem of path planning is studied for the case a mobile robot moving in an environment filled with obstacles whose shape and positions are not known. Under accepted model, automaton knows its own target coordinates, has "sensory" feedback which provides it local information on immediate surroundings. Ibis shown to be sufficient guarantee reaching global objective (the target), while generating reasonable (if optimal) paths. A lower bound length paths generated by any algorithm...

A model of mobile robot navigation is considered in which the a point automaton operating an environment with unknown obstacles arbitrary shapes. The robot's input information includes its own and target-points coordinates as well local sensing such that from stereo vision or range finder. These algorithmic issues are addressed: (1) Is it possible to combine planning functions produce 'active sensing' guided by needs planning? (The answer yes). (2) Can richer (e.g., versus tactile) guarantee...

The problem of generating collision-free motion in an operator-assisted teleoperated robot arm manipulator system is discussed. concentration on several requirements: a real real-time operation, guarantee for the entire body manipulator, and ability to handle obstacles arbitrary shapes. suggested methodology draws recent work planning with incomplete information whole-sensitive robots.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>

The terrain acquisition problem is formulated as that of continuous motion planning, and no constraints are imposed on obstacle geometry. Two algorithms described for acquiring planar terrains with obstacles arbitrary shape. Estimates the algorithm performance derived upper bounds lengths generated paths.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>

As part of a Defense Advanced Research Projects Agency/National Science Foundation study on human-robot interaction (HRI), over sixty representatives from academia, government, and industry participated in an interdisciplinary workshop, which allowed roboticists to interact with psychologists, sociologists, cognitive scientists, communication experts human-computer specialists discuss common interests the field HRI, establish dialogue across disciplines for future collaborations. We include...

Results of one effort to implement a motion planning system for robot arm operating in an uncertain environment are discussed. It is known that path algorithms with proven convergence can be designed some planar and three-dimensional manipulators among unknown obstacles arbitrary shapes. The attractiveness such systems lies their ability operate complex, perhaps even time-varying, unstructured environment. Implementation these algorithms, however, presents variety hardware algorithmic...

A number of existing maze-searching and robot motion planning algorithms are studied from the standpoint a single performance criterion. The main motivation is to build framework for selecting basic autonomous vehicles arm manipulators that operate in an environment filled with unknown obstacles arbitrary shapes. In choosing appropriate criterion, it noted besides convergence, minimizing length generated paths major consideration algorithms. addition, since no complete information ever...

An approach of dynamic path planning (DPP) was introduced elsewhere, and nonheuristic algorithms were described for collision-free paths a point automaton moving in an environment filled with unknown obstacles arbitrary shape. The DPP further extended to planar robot arm revolute joints; this case, every the body is subject collision. Under accepted model, robot, using information about its immediate surroundings provided by sensory feedback, continuously (dynamically) generates path....

A new polygon decomposition problem, the anchored area partition which has applications to a multiple-robot terrain-covering problem is presented. This concerns dividing given P into n polygonal pieces, each of specified and containing certain point (site) on its boundary or in interior. First algorithm for case when convex contains no holes Then generalized version that handles nonconvex nonsimply connected polygons The uses sweep-line divide-and-conquer techniques construct partition....

Focuses on sensor-based motion planning of a biped robot operating in an environment with obstacles. Using its sensors, the is able to obtain local information about surroundings. A number stable walking patterns are investigated. Depending shape and location obstacle robot's way, decision making algorithm chooses best relevant pattern; then negotiates resumes motion. The proposed control strategy based zero moment point. stability each pattern ensured by adjusting swing leg center mass hip...

A description is given of a hospital transport mobile robot, HelpMate, developed to carry out such tasks as the delivery off-schedule meal trays, lab and pharmacy supplies, patient records. Unlike many existing systems in industry which operate within rigid network wires buried or attached floor, robot expected be able navigate much like human would, including handling uncertainty unexpected obstacles. The navigation system HelpMate makes use specific structure hallway environment relies on...

The authors describe an ongoing research project on the development of a sensitive skin and its control scheme for 3D robot arm. consists hundreds active infrared proximity sensors that cover whole This sensor-based motion planning system senses obstacles by emitting amplitude-modulated light then sensing reflected signal. problem interpreting data from is handled step algorithm, which transforms sensor into local tangent normals in configuration space. Once this information available,...