Exploiting visual constraints in robot motion planning

Seth Andrew Hutchinson

Research output: Contribution to journalConference articlepeer-review

Abstract

A number of issues concerning the integration of visual and physical constraints for the synthesis and execution of error-tolerant motion strategies are addressed. Object features and their projections onto the image plane of a supervisory camera are used to define visual constraint surfaces. These surfaces can be directly used to enforce the following types of constrained motion: motion terminated on contact with a visual constraint surface, motion maintaining constant contact with a visual constraint surface, and motion that is simultaneously constrained by both visual and physical constraint surfaces. Preimage planning techniques are extended to the synthesis of motion strategies that exploit these types of motion.

Original languageEnglish (US)
Pages (from-to)1722-1727
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume2
StatePublished - Jan 1 1991
EventProceedings of the 1991 IEEE International Conference on Robotics and Automation - Sacramento, CA, USA
Duration: Apr 9 1991Apr 11 1991

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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