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- research-articleSeptember 2023
AeroTraj: Trajectory Planning for Fast, and Accurate 3D Reconstruction Using a Drone-based LiDAR
- Fawad Ahmad,
- Christina Suyong Shin,
- Rajrup Ghosh,
- John D'Ambrosio,
- Eugene Chai,
- Karthikeyan Sundaresan,
- Ramesh Govindan
Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies (IMWUT), Volume 7, Issue 3Article No.: 83, Pages 1–28https://doi.org/10.1145/3610911This paper presents AeroTraj, a system that enables fast, accurate, and automated reconstruction of 3D models of large buildings using a drone-mounted LiDAR. LiDAR point clouds can be used directly to assemble 3D models if their positions are accurately ...
- review-articleJuly 2023
Optimal Two-Step Collision-Free Trajectory Planning for Cylindrical Robot using Particle Swarm Optimization
Journal of Intelligent and Robotic Systems (JIRS), Volume 108, Issue 3Jul 2023https://doi.org/10.1007/s10846-023-01903-5AbstractAmong the works related to the planning of trajectories of manipulator robots, a subject that has been approached by different authors is the study associated to the manipulator’s movement, without considering the variable "time" involved in these ...
- research-articleAugust 2022
Planning Orientation Change of the End-effector of State Space Constrained Redundant Robotic Manipulators
CompSysTech '22: Proceedings of the 23rd International Conference on Computer Systems and TechnologiesJune 2022, Pages 51–56https://doi.org/10.1145/3546118.3546136Nowadays, robotic manipulators must operate in a dynamic environment and perform more and more complex and precise tasks. Therefore, robots that have more degrees of freedom than the desired task requires are used. These robots are called redundant ...
- research-articleAugust 2022
Real-time Trajectory Replanning for Dynamic Obstacles Avoidance for Robotics Manipulators
CompSysTech '22: Proceedings of the 23rd International Conference on Computer Systems and TechnologiesJune 2022, Pages 45–50https://doi.org/10.1145/3546118.3546135Collaborative robots are being used in various industrial tasks and need to collaborate with other robots or humans. An unforeseen obstacle may appear in their workspace at any time. Therefore, they must execute their motions without colliding with ...
- research-articleDecember 2021
Research on Improved Hybrid Polynomial Interpolation Algorithm for Rail Inspection Robot
EITCE '21: Proceedings of the 2021 5th International Conference on Electronic Information Technology and Computer EngineeringOctober 2021, Pages 1207–1213https://doi.org/10.1145/3501409.3501622In order to ensure the track stability when the rail inspection robot automatically tracks the moving target and reduce the amplitude of angular velocity and angular acceleration, it is necessary to study the trajectory planning strategy. Aiming at the ...
- research-articleAugust 2020
Research on Obstacle Avoidance and Trajectory Planning Strategy of Automatic Parking System
AICSconf '20: Proceedings of the 2020 Artificial Intelligence and Complex Systems ConferenceAugust 2020, Pages 56–62https://doi.org/10.1145/3407703.3407715A mathematical model is established according to motion characteristics of vehicles during parking, and an inequality algorithm is established according to obstacle avoidance rules. Its feasibility is verified using MATLAB simulation trajectory planning ...
- ArticleOctober 2016
Efficient Anatomy Driven Automated Multiple Trajectory Planning for Intracranial Electrode Implantation
- Rachel Sparks,
- Gergely Zombori,
- Roman Rodionov,
- Maria A. Zuluaga,
- Beate Diehl,
- Tim Wehner,
- Anna Miserocchi,
- Andrew W. McEvoy,
- John S. Duncan,
- Sebastien Ourselin
Medical Image Computing and Computer-Assisted Intervention – MICCAI 2016Oct 2016, Pages 542–550https://doi.org/10.1007/978-3-319-46720-7_63AbstractEpilepsy is curable if the epileptogenic zone (EZ) can be identified within the brain and resected. Intracranial depth electrodes help identify the EZ and also map cortical function. In current clinical practice, 7–12 electrode trajectories ...
- ArticleJuly 2016
Time-optimal Smoothing of RRT-given Path for Manipulators
ICINCO 2016: Proceedings of the 13th International Conference on Informatics in Control, Automation and RoboticsJuly 2016, Pages 406–411https://doi.org/10.5220/0005984504060411Trajectory planning is one of the most studied topics in robotics. Among several methods, a sampling-based
method, Rapidly-exploring Randomized Tree (RRT) algorithm, has become popular over the last two decades
due to its computational efficiency. ...
- ArticleJuly 2016
Redundancy Resolution in Minimum-time Path Tracking of Robotic Manipulators
ICINCO 2016: Proceedings of the 13th International Conference on Informatics in Control, Automation and RoboticsJuly 2016, Pages 61–68https://doi.org/10.5220/0005975800610068Minimum-time trajectories for applications where a geometric path is followed by a kinematically redundant robotâ s end-effector may yield economical improvements in many cases compared to conventional manipulators. While for non-redundant robots the ...
- ArticleJuly 2015
Flatness based Feed-forward Control of a Flexible Robot Arm under Gravity and Joint Friction
ICINCO 2015: Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2July 2015, Pages 174–180https://doi.org/10.5220/0005502701740180This paper discusses the open loop control problem of a flexible joint robot that is oriented in the vertical
plane. This orientation of the robot arm introduces gravity constraints and imposes undesirable nonlinear
behavior. Friction is also added at ...
- ArticleSeptember 2014
Rapidly Exploring Random Trees-based Initialization of MPC Technique Designed for Formations of MAVs
ICINCO 2014: Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2September 2014, Pages 436–443https://doi.org/10.5220/0005058504360443Motion planning techniques suited for initialization of Model Predictive Control based methodology applied for complex maneuvering and stabilization of formations of Micro Aerial Vehicles are proposed in this paper. Two approaches to initialization of ...
- ArticleSeptember 2013
Using Growth Curve in Trajectory Planning for Industrial Manipulator
ICIRA 2013: Proceedings of the 6th International Conference on Intelligent Robotics and Applications - Volume 8103September 2013, Pages 166–177https://doi.org/10.1007/978-3-642-40849-6_15The paper presents a new algorithm to solve the problem of trajectory planning in industrial manipulator, the growth curve which is well known in Biological Sciences. The growth curve is used to demonstrate the relationship between the quantities of a ...
- ArticleDecember 2012
Trajectory Tracking Control of Underactuated UUV for Underwater Recovery
IMCCC '12: Proceedings of the 2012 Second International Conference on Instrumentation, Measurement, Computer, Communication and ControlDecember 2012, Pages 386–391https://doi.org/10.1109/IMCCC.2012.95The trajectory tracking control method of underactuaed UUV for underwater recovry is studied, considering the strong nonlinear and strong coupling of dynamic motion model, and the characteristics of nonholonomic constraints for underactuated UUV. The ...
- ArticleJanuary 2011
High Order Smooth Motion Command Generation for FFC-Digital Controller
ICMTMA '11: Proceedings of the 2011 Third International Conference on Measuring Technology and Mechatronics Automation - Volume 02January 2011, Pages 316–319https://doi.org/10.1109/ICMTMA.2011.366We studied the general motion command generation which is applied in any digital controller with FFC (Feed Forward Compensation) structure. The problem is studied under the nominal scenario and one special scenario. Some fundamental results are proposed ...
- ArticleNovember 2009
Gait Parameters Optimization and Real-Time Trajectory Planning for Humanoid Robots
ICIC '07: Proceedings of the 3rd International Conference on Intelligent Computing: Advanced Intelligent Computing Theories and Applications. With Aspects of Artificial IntelligenceNovember 2009, Pages 35–46https://doi.org/10.1007/978-3-540-74205-0_5Trajectory planning of humanoid robots not only is required to satisfy kinematic constraints, but also other criteria such as staying balance, having desirable upper and lower postures, having smooth movement etc, is needed to maintain certain ...
- ArticleFebruary 2009
Modeling and Simulation of UAV Trajectory Planning on GAs
ICCMS '09: Proceedings of the 2009 International Conference on Computer Modeling and SimulationFebruary 2009, Pages 7–9https://doi.org/10.1109/ICCMS.2009.34According to the design requirement of UAV (The unmanned aircraft vehicle), the models of threat, UAV's dynamics, guidance and trajectory planning are established. Trajectory planning adopts genetic algorithms (GAs) and genetic coding uses "distance, ...
- ArticleOctober 2008
Automatic Excavation Planning of Hydraulic Excavator
Intelligent Robotics and ApplicationsOct 2008, Pages 1201–1211https://doi.org/10.1007/978-3-540-88518-4_128AbstractThis paper describes an efficient trajectory planning method for hydraulic excavator tasks including a complete excavation/loading work cycle. Also provided is an effective method for analyzing geometric trajectories satisfying mechanical-...
- ArticleNovember 2007
Optimality of Reaching Movements Based on Energetic Cost under the Influence of Signal-Dependent Noise
AbstractAs candidates of a constraint which determines human arm reaching trajectories, criteria of the minimum torque change and of the minimum end-point variance have been proposed and it has been shown that these criteria well predict the ...