89documents trouvés
Taking into account velocity and acceleration bounds in nonholonomic trajectory deformation
M.HILLION, F.LAMIRAUX
GEPETTO
Manifestation avec acte : 2007 IEEE International Conference on Robotics and Automation (ICRA'07), Rome (Italie), 10-14 Avril 2007, pp.3080-3085 , N° 05444
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110259Localization and trajectory following for multi-body wheeled mobile robots
O.LEFEBVRE, F.LAMIRAUX
GEPETTO
Manifestation avec acte : 2007 IEEE International Conference on Robotics and Automation (ICRA'07), Rome (Italie), 10-14 Avril 2007, pp.3086-3091 , N° 06603
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110258Localization, trajectory following and collision detection for multi-body wheeled mobile robots
O.LEFEBVRE, F.LAMIRAUX
GEPETTO
Rapport LAAS N°06796, Novembre 2006, 9p.
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108580Metric-based scan matching algorithms for mobile robot displacement estimation
J.MINGUEZ, L.MONTESANO, F.LAMIRAUX
Zaragoza, GEPETTO
Revue Scientifique : IEEE Transactions on Robotics, Vol.22, N°5, pp.1047-1054, Octobre 2006 , N° 05417
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108824Toward robust landmark selection for landmark based motion
A.C.MALTI, M.TAIX, F.LAMIRAUX
RIA, RIS, GEPETTO
Rapport LAAS N°06589, Septembre 2006, 8p.
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107795Trajectory deformation applied to kinodynamic motion planning for a realistic car model
F.BOYER, F.LAMIRAUX
GEPETTO
Manifestation avec acte : 2006 IEEE International Conference on Robotics and Automation (ICRA'06), Orlando (USA), 15 - 19 Mai 2006, pp.487-492 , N° 05443
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106887Docking task for nonholonomic mobile robots
O.LEFEBVRE, F.LAMIRAUX
GEPETTO
Manifestation avec acte : 2006 IEEE International Conference on Robotics and Automation (ICRA'06), Orlando (USA), 15 - 19 Mai 2006, pp.3736-3741 , N° 06049
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Abstract
This paper presents a framework for precise parking for nonholonomic mobile robots: the docking task. It consists in following a planned trajectory and reaching a docking configuration, defined relatively to the environment. The trajectory is deformed in order to reach the docking configuration, to avoid obstacles and to keep the nonholonomic constraints satisfied. A generic framework to compute the docking configuration is presented. Then we give the principle of a nonholonomic path deformation method that was used to deform the planned trajectory towards the docking configuration. This framework has been tested on a real robot with a trailer in a realistic scenario.
Fast computation of robot-obstacle interactions in nonholonomic trajectory deformation
O.LEFEBVRE, F.LAMIRAUX, D.BONNAFOUS
RIA
Manifestation avec acte : 2005 IEEE International Conference on Robotics & Automation (ICRA'05), Barcelone (Espagne), 18-22 Avril 2005, pp.4623-4628 , N° 04570
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Abstract
This paper deals with the optimization of Robot-Obstacle interaction computations, in the context of non-holonomic trajectory deformation for mobile robots. We first recall the principle of the trajectory deformation and the role of the potential field gradient in the configuration space. The contribution of the paper is twofold. First we show that the potential field gradient can be computed without any closed-form expression of the potential function if this latter depends only on the distance between the robot and the obstacles. Then an algorithm to filter obstacles that have no influence in Robot-Obstacle interactions is presented. This algorithm takes advantage of the spatial coherence of the planned trajectory, and has been evaluated by experiments on mobile robot Hilare2 towing a trailer.
Metric-based scan matching algorithms for mobile robot displacement estimation
J.MINGUEZ, F.LAMIRAUX, L.MONTESANO
Zaragoza, RIA
Manifestation avec acte : 2005 IEEE International Conference on Robotics & Automation (ICRA'05) , Barcelone (Espagne), 18-22 Avril 2005, pp.3566-3574 , N° 04565
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103517Modules architecture for controlling a mobile robot with a sensor-landmark based motion
A.C.MALTI, F.LAMIRAUX, M.TAIX
RIA
Rapport LAAS N°05088, Mars 2005, 7p.
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