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Manipulation systems for planetary exploration operate under severe limitations due to power and weight restrictions and extreme environmental conditions. Typically such systems employ carefully calibrated stereo cameras and carefully calibrated manipulators to achieve precision on the order of...
This paper describes an ongoing project to investigate the uses of pheromones as a means of communication in robotics. The particular example of pheromone communication considered here was inspired by queen bee pheromones that have a number of crucial functions in a bee colony, such as keeping...
This paper presents an experimental evaluation of different line extraction algorithms applied to 2D laser scans for indoor environments. Six popular algorithms in mobile robotics and computer vision are selected and tested. Real scan data collected from two office environments by using...
This paper describes an analytical method for modeling the positioning error of a robotic vehicle and examines how the metric of this error can be used to compare the geometries of various steering configuration. Positioning error can be caused by many factors stemming from the robot’s hardware...
New analysis and tools are presented that extend the hybrid zero dynamics (HZD) framework for the control of planar bipedal walkers. Results include (i) analysis of walking on a slope, (ii) analysis of dynamic (decoupling matrix) singularities, and (iii) an alternative method for choosing...
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