Exploiting visual constraints in the synthesis of uncertainty-tolerant motion plans II: The nondiretional backprojection

Armando Fox, Seth Hutchinson

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

Abstract

The directional backprojection is one of the primary tools used by fine-motion planning systems. Informally, a directional backprojection is the set of configurations from which a commanded motion is guaranteed to reach a goal configuration. It has been shown that, for force controlled motions, the topology of the directional backprojectoin only changes at a finite set of critical velocity orientations. In a related paper, we have shown how visual constraints can be exploited in the construction of directional backprojections. Here, we show how the introduction of visual constraints into the backprojection formalism affects the computation and structure of the nondirectional backprojection.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Editors Anon
PublisherPubl by IEEE
Pages311-316
Number of pages6
Volume1
ISBN (Print)0818634529
StatePublished - 1993
EventProceedings of the IEEE International Conference on Robotics and Automation - Atlanta, GA, USA
Duration: May 2 1993May 6 1993

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

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