Sudsang, A. and Ponce, J. (2000). A new approach to motion planning for disc-shaped robots manipulating a polygonal objectin the plane. In IEEE Int'l. Conf. on Robotics and Automation, pages 1068--1075.  Home/Search   Document Details and Download   Summary   Related Articles   Check

....is done by stacking a repulsive potentials onto the existing approach potential to redistribute the robots. The repulsive potential is designed to organize the robots into the desired formation trapping the object in the process. A more formal definition of trapping based on the concept of caging [11, 15] can be found in [18] Each robot autonomously transitions into the final transportation mode after it senses a quorum. In this phase, an added transportation potential similar to the one used in the approach phase but with a much lower intensity and centered at the destination location attracts ....

A. Sudsang and J. Ponce. A new approach to motion planning for disc-shaped robots manipulating a polygonal object in the plane. In Proc. IEEE Int. Conf. Robot. Automat., pages 1068--1075, San Francisco, CA, April 2000.

....manipulation strategies based on caging operations are potentially more robust than, for example, approaches relying on force closure. Caging was first introduced by Rimon and Blake in [8] for nonconvex objects and two fingered gripers. Other papers addressing variation on this basic theme are [9 13]. Broadly speaking, our work may be considered closest to the work by Sudsang and Ponce [13] They develop a centralized algorithm for moving three robots with circular geometry in an object manipulation task. Our basic goal in this paper is to develop decentralized control policies for a group ....

....approaches relying on force closure. Caging was first introduced by Rimon and Blake in [8] for nonconvex objects and two fingered gripers. Other papers addressing variation on this basic theme are [9 13] Broadly speaking, our work may be considered closest to the work by Sudsang and Ponce [13]. They develop a centralized algorithm for moving three robots with circular geometry in an object manipulation task. Our basic goal in this paper is to develop decentralized control policies for a group of robots to achieve a condition of object closure, and then, move toward a goal position ....

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Sudsang A., Ponce J. (2000) A new approach to motion planning for discshaped robots manipulating a polygonal object in the plane. In: IEEE Int'l. Conf. on Robotics and Automation, 1068--1075.

....the robots. This approach can be potentially scaled to multiple (tens and hundreds) robots and to higher speeds of operation. In contrast to other approaches to caging [11, 12] we do not require conditions for form closure to be maintained. Neither do we need to plan the manipulation task as in [13]. Given the shape of the object, we can use well known algorithms for planning form closed grasps [14] to derive the shape of the formation, and the allowable tolerance on shape changes. The two key contributions in this paper are (1) a cooperative scheme for localizing the robots based on visual ....

A. Sudsang and J. Ponce, "A new approach to motion planning for disc-shaped robots manipulating a polygonal object in the plane," in Proc. IEEE Int. Conf. Robot. Automat. , San Francisco, CA, April 2000, pp. 1068--1075.

....present experiments with Nomadic Scout mobile robots. The proposed approach is based on a few lemmas. Proofs too lengthy to be included in the body of this presentation are relegated to an appendix, along with the derivation of a few key equations. A preliminary version of this work appeared in [1]. A. Background When a hand holds an object at rest, the forces and moments exerted by the fingers balance each other to achieve equilibrium. For the hand to hold the object securely, it should also be capable of preventing any motion due to external forces and torques. This is captured by the ....

....in paths that tend to bring the object closer to obstacles, which forces a reduction in step size to avoid collisions. Larger ones may prevent the planner from finding feasible paths. We have conducted experiments with two approaches guaranteed to yield valid plans. The first one, discussed in [1], is to grow the object by the diameter of the robots plus some small clearance (Fig. 13(a) However, this creates an unnecessarily large object, which keeps the planner from finding otherwise feasible paths. The second approach, which is currently used in our implementation, is to construct ....

A. Sudsang and J. Ponce, "A new approach to motion planning for discshaped robots manipulating a polygonal object in the plane," in IEEE Int. Conf. on Robotics and Automation, San Francisco, CA, 2000, pp. 1068-- 1075.

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Sudsang, A. and Ponce, J. (2000). A new approach to motion planning for disc-shaped robots manipulating a polygonal objectin the plane. In IEEE Int'l. Conf. on Robotics and Automation, pages 1068--1075.

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