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IEEE Transactions on Robotics and Automation

Issue 6 • Date Dec 1989

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Displaying Results 1 - 9 of 9
  • Maintaining representations of the environment of a mobile robot

    Publication Year: 1989, Page(s):804 - 819
    Cited by:  Papers (134)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1484 KB)

    A description is given of current ideas related to the problem of building and updating three-dimensional representations of the environment of a mobile robot that uses passive vision as its main sensory modality. The authors attempt to represent both geometry and uncertainty. The authors motivate their approach by defining the problems they are trying to solve and then give some simple didactic e... View full abstract»

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  • Proximity sensing in robot manipulator motion planning: system and implementation issues

    Publication Year: 1989, Page(s):740 - 751
    Cited by:  Papers (33)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1468 KB)

    Results of one effort to implement a motion planning system for a robot arm operating in an uncertain environment are discussed. It is known that path planning algorithms with proven convergence can be designed for some planar and three-dimensional robot arm manipulators operating among unknown obstacles of arbitrary shapes. The attractiveness of such systems lies in their ability to operate in a ... View full abstract»

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  • Solving jigsaw puzzles by a robot

    Publication Year: 1989, Page(s):752 - 764
    Cited by:  Papers (23)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1396 KB)

    An integrated vision-manipulation algorithm for assembly of apictorial jigsaw puzzles is presented. A discussion is presented of the solution of large jigsaw puzzles using vision, combinatorial optimization, and fine assembly techniques. The implementations of a vision algorithm for assembly of large jigsaw puzzles and a fully integrated robotic-vision algorithm for assembly of small puzzles are p... View full abstract»

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  • Planning sensing strategies in a robot work cell with multi-sensor capabilities

    Publication Year: 1989, Page(s):765 - 783
    Cited by:  Papers (64)  |  Patents (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (2036 KB)

    An approach is presented for planning sensing strategies dynamically on the basis of the system's current best information about the world. The approach is for the system to propose a sensing operation automatically and then to determine the maximum ambiguity which might remain in the world description if that sensing operation were applied. The system then applies that sensing operation which min... View full abstract»

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  • Dynamic sensing in a ping-pong playing robot

    Publication Year: 1989, Page(s):728 - 739
    Cited by:  Papers (35)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1260 KB)

    The application of sensing technologies to an environment that changes at rates comparable to the sensing and actuation rates of a robot system is considered. In such dynamic environments, the temporal characteristics of the sensor must be taken into account. Additionally, the processing system must be able to integrate the stream of sensor data into its task plan, compensating for changed sensor ... View full abstract»

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  • Vision estimation of 3-D line segments from motion-a mobile robot vision system

    Publication Year: 1989, Page(s):820 - 825
    Cited by:  Papers (4)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (624 KB)

    The role of vision for the task of robot mobility is discussed. An efficient technique is presented for detecting, tracking, and locating three-dimensional line segments. The utility of this technique has been demonstrated by the SRI mobile robot, which uses it to locate features in an office environment in real time (3-Hz frame rate). A formulation of structure-from-motion using line segments is ... View full abstract»

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  • Sensing and control for sheep shearing robots

    Publication Year: 1989, Page(s):716 - 727
    Cited by:  Papers (12)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1232 KB)

    Sheep shearing is a difficult task for a robot and requires a robot with a delicate touch yet fast reactions, a large workspace, substantial load-carrying capabilities, and adaptive control. Tactile and proximity sensors supply the information needed to keep the cutter close to the skin. Knowledge of the shearing techniques being used at any time combined with force sensing and monitoring of unusu... View full abstract»

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  • Stereo vision and navigation in buildings for mobile robots

    Publication Year: 1989, Page(s):792 - 803
    Cited by:  Papers (103)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1284 KB)

    A mobile robot that autonomously functions in a complex and previously unknown indoor environment has been developed. The omnidirectional mobile robot uses stereo vision, odometry, and contact bumpers to instantiate a symbolic world model. Finding stereo correspondences across a single epipolar line is adequate for instantiating the model. Uncertainty in sensor data is represented by a multivariat... View full abstract»

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  • A behavior-based arm controller

    Publication Year: 1989, Page(s):784 - 791
    Cited by:  Papers (42)  |  Patents (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (972 KB)

    The author presents a working, implemented controller for an actual mobile robot arm. The goal of the system is to locate and retrieve empty soda cans in an unstructured environment using a variety of local sensors. The controller, however, is not a centralized sequential program, but rather a collection of 15 independent behaviors. Each of these behaviors contains some grain of expertise concerni... View full abstract»

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Aims & Scope

This Transactions ceased production in 2004. The current retitled publications areIEEE Transactions on Automation Science and Engineering and IEEE Transactions on Robotics.

Full Aims & Scope