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IEEE Journal on Robotics and Automation

Issue 3 • Date June 1987

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Displaying Results 1 - 11 of 11
  • [Front cover and table of contents]

    Publication Year: 1987, Page(s): c1
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    Freely Available from IEEE
  • Guest editorial

    Publication Year: 1987, Page(s):169 - 171
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    Freely Available from IEEE
  • How to move a chair through a door

    Publication Year: 1987, Page(s):172 - 181
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1082 KB)

    The door width of a simple polygon (a chair) is defined and an O(n^{2}) algorithm for computing its door width is given. It is first shown that all passages of the chair through the door can be reduced to a sequence of certain elementary motions. The technique of constraint analysis in characterizing elementary motions is introduced. Our algorithm actually constructs a motion of the chair through ... View full abstract»

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  • Minimizing turns for discrete movement in the interior of a polygon

    Publication Year: 1987, Page(s):182 - 193
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1309 KB)

    The problem of movement in two-dimensional Euclidean space that is bounded by a (not necessarily convex) polygon is considered. Movement is restricted to be along straight line segments, and the objective is to minimize the number of bends or "turns" in a path. Most past work on this problem has addressed the movement between a source point and a destination point. An O(n ast log (n)) time algorit... View full abstract»

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  • Simulation of physical systems from geometric models

    Publication Year: 1987, Page(s):194 - 206
    Cited by:  Papers (21)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1460 KB)

    The design of an extensible system is discussed in which the behavior of physical objects is simulated from their models. Complex objects can be defined in a multiplicity of domains, including their geometric shape, their dynamic response to applied forces, and their controlled behavior. In response to unforeseen changes, e.g., for unexpected collisions, the object models are modified automaticall... View full abstract»

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  • Effect of kinematics on motion planning for planar robot arms moving amidst unknown obstacles

    Publication Year: 1987, Page(s):207 - 223
    Cited by:  Papers (37)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1651 KB)

    An approach of dynamic path planning (DPP) was introduced elsewhere, and nonheuristic algorithms were described for planning collision-free paths for a point automaton moving in an environment filled with unknown obstacles of arbitrary shape. The DPP approach was further extended to a planar robot arm with revolute joints; in this case, every point of the robot body is subject to collision. Under ... View full abstract»

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  • A simple motion-planning algorithm for general robot manipulators

    Publication Year: 1987, Page(s):224 - 238
    Cited by:  Papers (239)  |  Patents (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1414 KB)

    A simple and efficient algorithm is presented, using configuration space, to plan collision-free motions for general manipulators. An implementation of the algorithm for manipulators made up of revolute joints is also presented. The configuration-space obstacles for an n degree-of-freedom manipulator are approximated by sets of n - 1- dimensional slices, recursively built up from one-dimensional s... View full abstract»

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  • Error modeling in stereo navigation

    Publication Year: 1987, Page(s):239 - 248
    Cited by:  Papers (156)  |  Patents (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1274 KB)

    In stereo navigation, a mobile robot estimates its position by tracking landmarks with on-board cameras. Previous systems for stereo navigation have suffered from poor accuracy, in part because they relied on scalar models of measurement error in triangulation. Using three-dimensional (3D) Gaussian distributions to model triangulation error is shown to lead to much better performance. How to compu... View full abstract»

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  • Sonar-based real-world mapping and navigation

    Publication Year: 1987, Page(s):249 - 265
    Cited by:  Papers (458)  |  Patents (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (2265 KB)

    A sonar-based mapping and navigation system developed for an autonomous mobile robot operating in unknown and unstructured environments is described. The system uses sonar range data to build a multileveled description of the robot's surroundings. Sonar readings are interpreted using probability profiles to determine empty and occupied areas. Range measurements from multiple points of view are int... View full abstract»

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  • The ground surveillance robot (GSR): An autonomous vehicle designed to transit unknown terrain

    Publication Year: 1987, Page(s):266 - 279
    Cited by:  Papers (23)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1838 KB)

    The Ground Surveillance Robot (GSR) project has proceeded continuously since the Fall of 1980, and in that time an autonomous vehicle design and some degree of implementation has been achieved. The vehicle design has been partitioned into sensor, control, and planning subsystems. A distributed blackboard scheme has been developed which provides the mechanism by which these subsystems are coordinat... View full abstract»

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  • [Back cover]

    Publication Year: 1987, Page(s):c4 - 0
    Cited by:  Papers (1)
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    Freely Available from IEEE

Aims & Scope

This Journal ceased production in 1988. The current retitled publications are IEEE Transactions on Automation Science and Engineering and IEEE Transactions on Robotics.

Full Aims & Scope