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Full-Text Articles in Robotics
Robot Motion Planning In Dynamic Environments, Hao-Tien Lewis Chiang
Robot Motion Planning In Dynamic Environments, Hao-Tien Lewis Chiang
Computer Science ETDs
Robot motion planning in dynamic environments is critical for many robotic applications, such as self-driving cars, UAVs and service robots operating in changing environments. However, motion planning in dynamic environments is very challenging as this problem has been shown to be NP-Hard and in PSPACE, even in the simplest case. As a result, the lack of safe, efficient planning solutions for real-world robots is one of the biggest obstacles for ubiquitous adoption of robots in everyday life. Specifically, there are four main challenges facing motion planning in dynamic environments: obstacle motion uncertainty, obstacle interaction, complex robot dynamics and noise, and …
Mesh Addition Based On The Depth Image (Mabdi), Lucas E. Chavez
Mesh Addition Based On The Depth Image (Mabdi), Lucas E. Chavez
Mechanical Engineering ETDs
Many robotic applications utilize a detailed map of the world and the algorithm used to produce such a map must take into consideration real-world constraints such as computational and memory costs. Traditional mesh-based environmental mapping algorithms receive data from the sensor, create a mesh surface from the data, and then append the surface to a growing global mesh. These algorithms do not provide a computationally efficient mechanism for reducing redundancies in the global mesh. MABDI is able to leverage the knowledge contained in the global mesh to find the difference between what we expect our sensor to see and what …