137documents trouvés
Handling complex kinematic environments
T.SIMEON, J.CORTES
RIA
Rapport de Contrat : MOVIE Project IST 39250, Mars 2005, 11p. , N° 05117
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103407A PRM-based motion planner for dynamically changing environments
L.JAILLET, T.SIMEON
RIA
Manifestation avec acte : 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2004), Sendai (Japon), 28 Septembre - 2 Octobre 2004, pp.1606-1611 , N° 04206
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102651Sampling-based motion planning under kinematic loop-closure constraints
J.CORTES, T.SIMEON
RIA
Manifestation avec acte : 6th International Workshop on the Algorithmic Foundations of Robotics (WAFR'2004), Utrecht (Pays-Bas), 11-13 Juillet 2004, pp.59-74 , N° 04110
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Abstract
Kinematic loop-closure constraints signi cantly increase the diculty of motion planning for articulated mechanisms. Con gurations of closed-chain mechanisms do not form a single manifold, easy to parameterize, as the con gurations of open kinematic chains. In general, they are grouped into several subsets with complex and a priori unknown topology. Sampling-based motion planning algorithms cannot be directly applied to such closed-chain systems. This paper describes our recent work [7] on the extension of sampling-based planners to treat this kind of mechanisms.
Manipulation planning with probabilistic roadmaps
T.SIMEON, J.P.LAUMOND, J.CORTES, A.SAHBANI
RIA
Revue Scientifique : International Journal of Robotics Research, Vol.23, N°7-8, pp.729-746, Juillet-Août 2004 , N° 03177
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102476Geometric algorithms for the conformational analysis of lang protein loops
J.CORTES, T.SIMEON, M.REMAUD-SIMEON, V.TRAN
BIOENGINEERING, RIA, Biocatalyse
Revue Scientifique : Journal of Computational Chemistry, Issue 7, Vol.25, pp.956-967, Mai 2004 , N° 03344
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1021283D collision avoidance for digital actors locomotion
J.PETTRE, J.P.LAUMOND, T.SIMEON
RIA
Manifestation avec acte : IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2003), Las Vegas (USA), 27-31 Octobre 2003, pp.400-405 , N° 03162
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101505Probabilistic motion planning for parallel mechanisms
J.CORTES, T.SIMEON
RIA
Manifestation avec acte : 2003 IEEE International Conference on Robotics and Automation (ICRA'2003), Taipei (Taïwan), 14-19 Septembre 2003, pp.4354-4359 , N° 02405
Diffusable
101270A 2-stages locomotion planner for digital actors
J.PETTRE, J.P.LAUMOND, T.SIMEON
RIA
Manifestation avec acte : ACM SIGGRAPH / Eurographics Symposium on Computer Animation, San Diego (USA), 26-27 Juillet 2003, pp.258-264 , N° 03186
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101140NeMove3D
S.DUPASQUIER, M.GHALLAB, J.P.LAUMOND, T.SIMEON
RIA
Rapport de Contrat : Projet RNTL, Mai 2003, 57p. , N° 03261
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100874A general manipulation task planner
T.SIMEON, J.CORTES, A.SAHBANI, J.P.LAUMOND
RIA
Manifestation avec acte : 5th International Workshop on Algorithmic Foundations of Robotics (WAFR'2002), Nice (France), 15-17 Décembre 2002, pp.293-309 , N° 02273
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