137documents trouvés
Safe proactive plans and their execution
K.MADHAVA KRISHNA, R.ALAMI, T.SIMEON
RIA
Revue Scientifique : Robotics and Autonomous Systems, Vol.54, N°3, pp.244-255, Mars 2006 , N° 05084
Diffusable
108700Navigation in the presence of humans
E.A.SISBOT, R.ALAMI, T.SIMEON, K.DAUTENHAHN, M.WALTERS, S.WOODS, K.L.KOAY, C.NEHANIV
Hertfordshire, RIA
Manifestation avec acte : IEEE-RAS International Conference on Humanoid Robots (Humanoids'2005°, Tsukuba (Japon), 5-7 Décembre 2005, 8p. , N° 05660
Diffusable
105372Motion planning algorithms for general closed-chain mechanisms
J.CORTES, T.SIMEON
RIA
Rapport LAAS N°05442, Septembre 2005, 10p.
Diffusable
104338Adaptive tuning of the sampling domain for dynamic-domain RRTs
L.JAILLET, A.YERSHOVA, S.M.LAVALLE, T.SIMEON
Urbana, RIA
Manifestation avec acte : IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2005), Edmonton (Canada), 2-6 Août 2005, pp.4086-4091 , N° 05130
Diffusable
103976A path planning approach for computing large-amplitude motions of flexible molecules
J.CORTES, T.SIMEON, V.RUIZ DE ANGULO, D.GUIEYSSE, M.REMAUD-SIMEON, V.TRAN
RIA, UPC, BIOENGINEERING, Biocatalyse
Revue Scientifique : Bioinformatics, Vol.21, N°Supplement 1, pp.i116-i125, 2005 , N° 05020
Diffusable
103732A path planning approach for computing large-amplitude motions of flexible molecules
J.CORTES, T.SIMEON, V.RUIZ DE ANGULO, D.GUIEYSSE, M.REMAUD-SIMEON, V.TRAN
RIA, UPC, BIOENGINEERING, Biocatalyse
Manifestation avec acte : 13th Annual International Conference on Intelligent Systems for Molecular Biology (ISMB'2005), Détroit (USA), 25-29 Juin 2005 , N° 05020
Diffusable
103731BioCD: an efficient algorithm for self-collision and distance computation between highly articulated molecular models
V.RUIZ DE ANGULO, J.CORTES, T.SIMEON
UPC, RIA
Manifestation avec acte : Conference on Robotics: Science and Systems, Boston (USA), 6-11 Juin 2005, 8p. , N° 05021
Diffusable
Plus d'informations
Abstract
This paper describes an efficient approach to (self) collision detection and distance computations for complex articulated mechanisms such as molecular chains. The proposed algorithm called BioCD is particularly designed for samplingbased motion planning on molecular models described by long kinematic chains possibly including cycles. The algorithm considers that the kinematic chain is structured into a number of rigid groups articulated by preselected degrees of freedom. This structuring is exploited by a two-level spatially-adapted hierarchy. The proposed algorithm is not limited to particular kinematic topologies and allows good collision detection times. BioCD is also tailored to deal with the particularities imposed by the molecular context on collision detection. Experimental results show the effectiveness of the proposed approach which is able to process thousands of (self) collision tests per second on flexible protein models with up to hundreds of degrees of freedom.
Dynamic-domain RRTs: efficient exploration by controlling the samplin domain
A.YERSHOVA, L.JAILLET, T.SIMEON, S.M.LAVALLE
Urbana, RIA
Manifestation avec acte : 2005 IEEE International Conference on Robotics & Automation (ICRA'05), Barcelone (Espagne), 18-22 Avril 2005, pp.3867-3872 , N° 04568
Diffusable
103515Dynamic planning in virtual environments
T.SIMEON, L.JAILLET
RIA
Rapport de Contrat : MOVIE Project IST 39250, Mars 2005, 9p. , N° 05114
Diffusable
103401MOVIE Workshop Proceedings
T.SIMEON, J.P.LAUMOND
RIA
Rapport de Contrat : MOVIE Project IST 39250, Mars 2005, 14p. , N° 05115
Diffusable
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