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Team MIT Urban Challenge Technical Report
(2007-12-14)
This technical report describes Team MIT’s approach to theDARPA Urban Challenge. We have developed a novel strategy forusing many inexpensive sensors, mounted on the vehicle periphery,and calibrated with a new cross-modal ...
Planning Robust Strategies for Constructing Multi-object Arrangements
(2017-01-30)
A crucial challenge in robotics is achieving reliable results in spite of sensing and control uncertainty. A prominent strategy for dealing with uncertainty is to construct a feedback policy, where actions are chosen as a ...
Distributed Area Search with a Team of Robots
(2006-12-05)
The main goal of this thesis is to demonstrate the applicability of the distributed systems paradigm to robotic systems. This goal is accomplished by presenting two solutions to the Distributed Area Search problem: organizing ...
Interactive Simulation of Stylized Human Locomotion
(2008-08-01)
Animating natural human motion in dynamic environments is difficult because of complex geometric and physical interactions. Simulation provides an automatic solution to parts of this problem, but it needs control systems ...
An Approach to Automatic Robot Programming
(1985-04-01)
In this paper we propose an architecture for a new task-level system, which we call TWAIN. Task-level programming attempts to simplify the robot programming process but requiring that the user specify only goals for ...
On Multiple Moving Objects
(1986-05-01)
This paper explores the motion planning problem for multiple moving objects. The approach taken consists of assigning priorities to the objects, then planning motions one object at a time. For each moving object, the ...
Automatic Synthesis of Fine-Motion Strategies for Robots
(1983-12-01)
The use of active compliance enables robots to carry out tasks in the presence of significant sensing and control errors. Compliant motions are quite difficult for humans to specify, however. Furthermore, robot programs ...
Solving the Find-Path Problem by Representing Free Space as Generalized Cones
(1982-05-01)
Free space is represented as a union of (possibly overlapping) generalized cones. An algorithm is presented which efficiently finds good collision free paths for convex polygonal bodies through space littered with ...
Workshop on the Design and Control of Dextrous Hands
(1982-04-01)
The Workshop for the Design and Control of Dexterous Hands was held at the MIT Artificial Intelligence Laboratory on November 5-6, 1981. Outside experts were brought together to discuss four topics: kinematics of hands, ...
Redundancy Resolution of Manipulators through Torque Optimization
(1986-01-01)
Methods for resolving kinematic redundancies of manipulators by the effect on joint torque are examined. When the generalized inverse is formulated in terms of accelerations and incorporated into the dynamics, the ...