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IEEE Transactions on Robotics and Automation

Issue 6 • Dec. 1998

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Displaying Results 1 - 15 of 15
  • List of reviewers

    Publication Year: 1998, Page(s):986 - 988
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    Freely Available from IEEE
  • Author index

    Publication Year: 1998, Page(s):1 - 4
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  • Subject index

    Publication Year: 1998, Page(s):4 - 12
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  • A phase management framework for event-driven dextrous manipulation

    Publication Year: 1998, Page(s):978 - 985
    Cited by:  Papers (5)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (136 KB)

    Multifingered robotic hands have not yet made significant inroads into practical applications, partly due to the complexity of dextrous manipulation tasks, and also due to control software shortcomings. High level task controllers exist, as do low level grasp controllers, but neither of these fully address the problems of changing kinematic and dynamic constraints that arise during a grasping and ... View full abstract»

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  • Vision-based navigation by a mobile robot with obstacle avoidance using single-camera vision and ultrasonic sensing

    Publication Year: 1998, Page(s):969 - 978
    Cited by:  Papers (92)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (808 KB)

    This paper describes a vision-based navigation method in an indoor environment for an autonomous mobile robot which can avoid obstacles. In this method, the self-localization of the robot is achieved by a model-based vision system, and nonstop navigation is realized by a retroactive position correction system. Stationary obstacles are avoided with single-camera vision and moving obstacles are dete... View full abstract»

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  • Experimental results from internal odometry error correction with the OmniMate mobile robot

    Publication Year: 1998, Page(s):963 - 969
    Cited by:  Papers (32)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (752 KB)

    This paper presents the experimental results of test with a new method for detecting and correcting odometry errors without inertial or external-reference sensors. This method, called internal position error correction (IPEC), has been implemented on a new, commercially available mobile robot called “OmniMate”, which was specifically designed for the implementation of the IPEC method. ... View full abstract»

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  • Planning for camera-guided robotic radiosurgery

    Publication Year: 1998, Page(s):951 - 962
    Cited by:  Papers (26)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1200 KB)

    Radiosurgery is a treatment for brain tumours and other lesions which employs a moving beam of photon radiation. In robotic radiosurgery, the radiation source is moved by a six degree-of-freedom robotic arm. A treatment planning system for robotic radiosurgery was developed. This planning system combines collision avoidance techniques and geometric algorithms for finding appropriate robot paths an... View full abstract»

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  • Adaptive augmented state feedback control for an experimental planar two-link flexible manipulator

    Publication Year: 1998, Page(s):940 - 950
    Cited by:  Papers (33)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (492 KB)

    An adaptive augmented state feedback control (AASFC) approach is presented for the two-link flexible manipulator, the Duisburg flexible manipulator 01 (DFM01). In order to describe the DFM01 accurately, two disturbance variables are introduced as augmented states. The controller design is based on the steady-state LQR technique in conjunction with an adaptive compensator, where all states are adap... View full abstract»

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  • On constraints in assembly planning

    Publication Year: 1998, Page(s):849 - 863
    Cited by:  Papers (29)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (572 KB)

    Constraints on assembly plans vary depending on product, assembly facility, assembly volume, and many other factors. Assembly costs and other measures to optimize vary just as widely. To be effective, computer-aided assembly planning systems must allow users to express the plan selection criteria that apply to their products and production environments. We begin by surveying the types of user crit... View full abstract»

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  • Optimal motion planning for multiple robots having independent goals

    Publication Year: 1998, Page(s):912 - 925
    Cited by:  Papers (145)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (764 KB)

    This work makes two contributions to geometric motion planning for multiple robots: 1) motion plans are computed that simultaneously optimize an independent performance measure for each robot; 2) a general spectrum is defined between decoupled and centralized planning, in which we introduce coordination along independent roadmaps. By considering independent performance measures, we introduce a for... View full abstract»

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  • Geometric algorithms for workpiece localization

    Publication Year: 1998, Page(s):864 - 878
    Cited by:  Papers (60)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (672 KB)

    We present a unified geometric theory for localization of three types of workpieces: 1) general three-dimensional (3D) workpieces where points from the finished surfaces fully constrain the rigid motions of the workpieces; 2) symmetric workpieces; 3) partially machined workpieces where points from the finished surfaces are inadequate to fully constrain the rigid motions of the workpieces. Applicat... View full abstract»

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  • Behavior-based formation control for multirobot teams

    Publication Year: 1998, Page(s):926 - 939
    Cited by:  Papers (1164)  |  Patents (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1268 KB)

    New reactive behaviors that implement formations in multirobot teams are presented and evaluated. The formation behaviors are integrated with other navigational behaviors to enable a robotic team to reach navigational goals, avoid hazards and simultaneously remain in formation. The behaviors are implemented in simulation, on robots in the laboratory and aboard DARPA's HMMWV-based unmanned ground v... View full abstract»

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  • Genetic reinforcement learning approach to the heterogeneous machine scheduling problem

    Publication Year: 1998, Page(s):879 - 893
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (472 KB)

    Focuses on the development of a learning-based heuristic for scheduling heterogeneous machines. Although list scheduling methods have been widely used for a large class of scheduling problems, including the heterogeneous machine scheduling problem, they involve designing priority rules, which usually require a fair amount of insights on the characteristics of the problem to be solved. Instead of e... View full abstract»

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  • Adaptive motor control to aid mobile robot trajectory execution in the presence of changing system parameters

    Publication Year: 1998, Page(s):894 - 901
    Cited by:  Papers (3)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (224 KB)

    Most of the mobile robot path planning algorithms presented to date, generate intermediate goal coordinates for a mobile robot to pursue, based upon the local environment and the position of the global target. In response to this, we present a general controller for any vehicle which is driven by changing target vectors and show that the restricted speed (or torque) capabilities of the vehicle can... View full abstract»

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  • Minimum uncertainty explorations in the self-localization of mobile robots

    Publication Year: 1998, Page(s):902 - 911
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (332 KB)

    The self-localization of a mobile robot within a known environment, by means of an orientable range finder, is considered. The problem of the determination of the sensor orientation which minimizes the position uncertainty of the mobile robot is addressed. An efficient technique is proposed to determine the optimal sensor exploration, given the current robot position estimate and its uncertainty. ... 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