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Projects in this area tend to vary greatly and to be highly individualized. Examples below are shown only to give a taste of possible topics. 18. Experimental validation of, using a robot available for this work, one or more sensor-based motion planning algorithms. 19. Experimental study of a few existing sensing devices for the choice of technology that satis es in the best way a given motion planning system. Examples: infrared, ultrasound, capacitance, electromagnetic, and so on, sensors. 20. Sensor/processing systems for detecting surrounding objects and doing motion planning. 21. Experimental analysis of human performance in spatial reasoning tasks: teleoperation skills; motion planning skills; effects of training.
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1. V. Lumelsky, S. Mukhopadhyay, and K. Sun. Dynamic path planning in sensorbased terrain acquisition. IEEE Transactions on Robotics and Automation 6(4): 462 472, 1990. 2. F. Preparata and M. Shamos. Computational Geometry, Springer-Verlag, New York, 1985. 3. J. C. Latombe. Robot Motion Planning, Kluwer Academic Publishers, Dordrecht, 1991. 4. Y. Lajoie et al. Gait of a deafferented subject without large myelinated sensory bers below the neck. Neurology 47(1):109 115, 1996. 5. S. Rossignol et al. Peripheral and spinal mechanisms in neural control of movement. Progress in Brain Research 123:297 309, 1999. 6. M. Brady, J. Hollerbach, T. Johnson, T. Lozano-P rez, and M. Mason, eds. Robot e Motion, MIT Press, Cambridge, MA, 1982. 7. J. Craig. Introduction to Robotics, Mechanics and Control, 2nd ed., AddisonWesley, Reading, MA, 1989. 8. R. Paul. Robot Manipulators: Mathematics, Programming, and Control, MIT Press, Cambridge, MA, 1981. 9. A. Bejczy. Robot arm dynamics and control. Technical memorandum 33-669. Technical report, Jet Propulsion Laboratory, Pasadena, CA, 1974. 10. R. H. Taylor. Planning and execution of straight line manipulator trajectories. IBM Journal of Research and Development, 23(4):424 436, 1979. 11. J. Schwartz, J. Hopcroft, M. Sharir, eds. Planning, Geometry, and Complexity. Robot Motion Aspects, Ablex Publishing Corporation, Norwood, NJ, 1986. 12. D. Lipski and F. Preparata. Segments, rectangles, contours. Journal of Algorithms 2:63 76, 1981. 13. T. Lozano-P rez. Spatial planning: A con guration space approach. IEEE Transe actions on Computers 32(3):108 120, February 1983. 14. J. Reif. A survey of advances in the theory of computational robotics. In Adaptive and Learning Systems. Theory and Applications, K. S. Narendra, ed., Plenum Press, New York, 1986. 15. J. Reif. Complexity of the Mover s Problem and generalizations. In Proceedings, 20th Symposium of the Foundations of Computer Science, 1979.
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Sensing, Intelligence, Motion, by Vladimir J. Lumelsky Copyright 2006 John Wiley & Sons, Inc.
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16. J. Schwartz and M. Sharir. On the Piano Mover s problem. II. General techniques for computing topological properties of real algebraic manifolds. Advances in Applied Mathematics 4:298 351, 1983. 17. V. Lumelsky and A. Stepanov. Effect of uncertainty on continuous path planning for an autonomous vehicle. In 23rd IEEE Conference on Decision and Control, Las Vegas, 1984. 18. J. Schwartz and M. Sharir. On the Piano Mover s problem. I. The case of a two-dimensional rigid polygonal body moving amidst polygonal barriers. Communications on Pure and Applied Mathematics 34:345 398, 1983. 19. J. Hopcroft, J. Schwartz, and M. Sharir. On the complexity of motion planning for multiple independent objects: PSPACE hardness of the warehouseman s problem . International Journal of Robotics Research 3(4):76 88, 1984. 20. J. Hopcroft, D. Joseph, and S. Whitesides. On the movement of robot arms in 2-dimensional bounded regions. In Proceedings, 20th IEEE Symposium on Foundations of Computer Science, Chicago, November 1982. u 21. C. O D nlaing, M. Sharir and C. Yap. Retraction: A new approach to motion planning. In 15th ACM Symposium on the Theory of Computing, Boston, MA, 1983. 22. T. Lozano-P rez. Automatic planning of manupulator transfer movements. IEEE e Transactions on Systems, Man, and Cybernetics SMC-11(10):681 698, 1981. 23. J. O Rourke. Convex hulls, Voronoi diagrams, and terrain navigation. In Proceedings of the Pecora IX Remote Sensing Symposium, Sioux Falls, SD, 1984. 24. D. Pieper. The kinematics of manipulators under computer control. Ph.D. thesis, Mechanical Engineering Department, Stanford University, 1972. 25. S. Udupa. Collision detection and avoidance in computer controlled manipulators. In Proceedings of 5th Joint International Conference on Arti cial Intelligence, Cambridge, MA, 1977. 26. B. Faverjon. Obstacle avoidance using an octree in the con guration space of a manipulator. In Proceedings of the IEEE International Conference on Robotics and Automation, Atlanta, GA, March 1984. 27. T. Lozano-P rez and M. Wesley. An algorithm for planning collision-free paths e among polyhedral obstacles. Communications of the ACM 22:560 570, 1979. 28. H. Moravec. The Stanford cart and the CMU rover. Proceedings of the IEEE 71(7):872 874, July 1983. 29. R. Brooks. Solving the nd-path problem by good representation of free space. IEEE Transactions on Systems, Man, and Cybernetics, 13(3):190 197, 1983. 30. T. Binford. Visual perception by computer. In Proc. IEEE International Conference Systems, Science, and Cybernetics, Miami, FL, 1971. 31. R. Paul. Modeling trajectory calculation and servoying of a computer controlled arm. Ph.D. thesis, Stanford University, 1972. 32. J. Canny. A new algebraic method for robot motion planning and real geometry. In Proceedings of the 28th IEEE Symposium on Foundations of Computer Science, Los Angeles, CA, 1987. 33. L. Meijdam and A. de Zeeuw. On expectations, information, and dynamic game equilibria. In Dynamic Games and Applications in Economics, T. Basar, ed., Springer-Verlag, New York, 1986.
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