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Team MIT Urban Challenge Technical Report
This technical report describes Team MITs 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 ...
Solving the Find-Path Problem by Representing Free Space as Generalized Cones
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 ...
Automatic Planning of Manipulator Transfer Movements
This paper deals with the class of problems that involve finding where to place or how to move a solid object in the presence of obstacles. The solution to this class of problems is essential to the automatic planning ...
Planning of Minimum-Time Trajectories for Robot Arms
The minimum-time for a robot arm has been a longstanding and unsolved problem of considerable interest. We present a general solution to this problem that involves joint-space tesselation, a dynamic time-scaling ...