Exploiting visual constraints in the synthesis of uncertainty-tolerant motion plans I: The directional backprojection

Armando Fox, Seth Hutchinson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In our earlier work, we have shown that visual constraint surfaces can be used to effect visual guarded and visual compliant motions (which are analogous to guarded and compliant motion using force control). Here we show how the backprojection approach to fine-motion planning can be extended to exploit visual constraints. Specifically, by deriving a configuration space representation of visual constraint surfaces, we are able to include visual constraint surfaces as boundaries of the directional backprojection.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Editors Anon
PublisherPubl by IEEE
Pages305-310
Number of pages6
ISBN (Print)0818634529
StatePublished - Jan 1 1993
EventProceedings of the IEEE International Conference on Robotics and Automation - Atlanta, GA, USA
Duration: May 2 1993May 6 1993

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume1
ISSN (Print)1050-4729

Other

OtherProceedings of the IEEE International Conference on Robotics and Automation
CityAtlanta, GA, USA
Period5/2/935/6/93

ASJC Scopus subject areas

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

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