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Title:Generating Expected-Time Efficient Trajectories for Rapidly Finding an Object in Known Environments
Author(s):Sarmiento, Alejandro
Doctoral Committee Chair(s):Hutchinson, Seth A.
Department / Program:Computer Science
Discipline:Computer Science
Degree Granting Institution:University of Illinois at Urbana-Champaign
Degree:Ph.D.
Genre:Dissertation
Subject(s):Artificial Intelligence
Abstract:In the final version, the robot is no longer a point but a mobile manipulator moving in a 3-D environment. The proposed solution builds on previous results and also introduces a sample-based convex cover to estimate the size and shape of visibility regions in 3-D. The resulting convex regions are exploited to generate trajectories that compromise between moving the base and moving the robotic arm.
Issue Date:2004
Type:Text
Language:English
Description:96 p.
Thesis (Ph.D.)--University of Illinois at Urbana-Champaign, 2004.
URI:http://hdl.handle.net/2142/81657
Other Identifier(s):(MiAaPQ)AAI3160947
Date Available in IDEALS:2015-09-25
Date Deposited:2004


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