Pub Date : 2013-05-06DOI: 10.1109/ICRA.2013.6630551
David Zarrouk, Andrew O. Pullin, Nicholas J. Kohut, R. Fearing
This paper presents a six-legged, sprawl-tuned autonomous robot (STAR). This novel robot has a variable leg sprawl angle in the transverse plane to adapt its stiffness, height, and leg-to-surface contact angle. The sprawl angle can be varied from nearly positive 60 degrees to negative 90 degrees, enabling the robot to run in a planar configuration, upright, or inverted (see movie). STAR is fitted with spoke wheel-like legs which provide high electromechanical conversion efficiency and enable the robot to achieve legged performance over rough surfaces and obstacles, using a high sprawl angle, and nearly wheel-like performance over smooth surfaces for small sprawl angles. Our model and experiments show that the contact angle and normal contact forces are substantially reduced when the sprawl angle is low, and the velocity increases over smooth surfaces, with stable running at all velocities up to 5.2m/s and a Froude number of 9.8.
{"title":"STAR, a sprawl tuned autonomous robot","authors":"David Zarrouk, Andrew O. Pullin, Nicholas J. Kohut, R. Fearing","doi":"10.1109/ICRA.2013.6630551","DOIUrl":"https://doi.org/10.1109/ICRA.2013.6630551","url":null,"abstract":"This paper presents a six-legged, sprawl-tuned autonomous robot (STAR). This novel robot has a variable leg sprawl angle in the transverse plane to adapt its stiffness, height, and leg-to-surface contact angle. The sprawl angle can be varied from nearly positive 60 degrees to negative 90 degrees, enabling the robot to run in a planar configuration, upright, or inverted (see movie). STAR is fitted with spoke wheel-like legs which provide high electromechanical conversion efficiency and enable the robot to achieve legged performance over rough surfaces and obstacles, using a high sprawl angle, and nearly wheel-like performance over smooth surfaces for small sprawl angles. Our model and experiments show that the contact angle and normal contact forces are substantially reduced when the sprawl angle is low, and the velocity increases over smooth surfaces, with stable running at all velocities up to 5.2m/s and a Froude number of 9.8.","PeriodicalId":259746,"journal":{"name":"2013 IEEE International Conference on Robotics and Automation","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133477074","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-05-06DOI: 10.1109/ICRA.2013.6630943
Takao Watanabe, Tatsuya Tono, Y. Nakashima, K. Kawamura, Jim Inoue, Yoshifumi Kijima, Y. Toyonaga, T. Yuji, Y. Higashi, T. Fujimoto, M. Fujie
Robotic gait training has been introduced recently in rehabilitation, and the related researches have been conducted to propose more effective mechanism and control. To automate gait training, position control with reference trajectory has been adopted in many researches. However, there remain problems such as enhancing self-dominated gait or adapting to asymmetry or individual difference to apply robotic gait training to moderately affected hemiplegia patient. To solve this problem, we quantified the manual pelvic assistance (handling) provided by physical therapy, which can enhance patient's self dominated gait individually. In this paper, the physical model of handling was proposed based on the measurement and verified by multiple regression analysis.
{"title":"Analysis of interaction between therapist and hemiplegic patient for control of lateral pelvic motion during robotic gait training","authors":"Takao Watanabe, Tatsuya Tono, Y. Nakashima, K. Kawamura, Jim Inoue, Yoshifumi Kijima, Y. Toyonaga, T. Yuji, Y. Higashi, T. Fujimoto, M. Fujie","doi":"10.1109/ICRA.2013.6630943","DOIUrl":"https://doi.org/10.1109/ICRA.2013.6630943","url":null,"abstract":"Robotic gait training has been introduced recently in rehabilitation, and the related researches have been conducted to propose more effective mechanism and control. To automate gait training, position control with reference trajectory has been adopted in many researches. However, there remain problems such as enhancing self-dominated gait or adapting to asymmetry or individual difference to apply robotic gait training to moderately affected hemiplegia patient. To solve this problem, we quantified the manual pelvic assistance (handling) provided by physical therapy, which can enhance patient's self dominated gait individually. In this paper, the physical model of handling was proposed based on the measurement and verified by multiple regression analysis.","PeriodicalId":259746,"journal":{"name":"2013 IEEE International Conference on Robotics and Automation","volume":"129 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133651126","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-05-06DOI: 10.1109/ICRA.2013.6631134
Timothy Stevens, Timothy H. Chung
In this study, we explore the use of nondeterministic search trajectories to accomplish a two-fold mission of mobile robot search for a stationary target while avoiding counter-targeting by the adversary throughout the operation. We analyze the characteristics associated with a Levy distribution of search leg lengths to generate appropriate randomized search trajectories. We discuss the alteration of the probability distribution of the Levy search as a result of the method utilized to best address the presence of the bounded search area and confine the searcher within its boundaries. Through regression analysis of simulation results, we determine expressions for the coverage ratio evolution of the modified Levy search strategy and the distribution on time to target detection TD, from which we are able to calculate the expected time, E[TD], to detect the target uniformly distributed within the search area. We assert assumptions regarding the adversary's detection and tracking abilities to estimate the expected time, E[TC], required for it to counter target the searcher. From these two expected times, we construct a novel probabilistic mission performance metric that measures the likelihood that the searcher will detect the target before it is counter targeted itself.
{"title":"Autonomous search and counter-targeting using Levy search models","authors":"Timothy Stevens, Timothy H. Chung","doi":"10.1109/ICRA.2013.6631134","DOIUrl":"https://doi.org/10.1109/ICRA.2013.6631134","url":null,"abstract":"In this study, we explore the use of nondeterministic search trajectories to accomplish a two-fold mission of mobile robot search for a stationary target while avoiding counter-targeting by the adversary throughout the operation. We analyze the characteristics associated with a Levy distribution of search leg lengths to generate appropriate randomized search trajectories. We discuss the alteration of the probability distribution of the Levy search as a result of the method utilized to best address the presence of the bounded search area and confine the searcher within its boundaries. Through regression analysis of simulation results, we determine expressions for the coverage ratio evolution of the modified Levy search strategy and the distribution on time to target detection TD, from which we are able to calculate the expected time, E[TD], to detect the target uniformly distributed within the search area. We assert assumptions regarding the adversary's detection and tracking abilities to estimate the expected time, E[TC], required for it to counter target the searcher. From these two expected times, we construct a novel probabilistic mission performance metric that measures the likelihood that the searcher will detect the target before it is counter targeted itself.","PeriodicalId":259746,"journal":{"name":"2013 IEEE International Conference on Robotics and Automation","volume":"76 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133654559","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-05-06DOI: 10.1109/ICRA.2013.6630582
S. Iyer, T. Looi, J. Drake
In this paper, a novel approach for automated suturing is introduced and experimental results are presented. Unlike other similar works, the proposed approach adopts a single arm to implement a suturing task with a standard laparoscopic needle holder and curved suture needle. 3D information is obtained from a clinical (single camera) endoscope through an elliptical/circular pose measurement algorithm, which dynamically tracks the suture needle and surface markers. This drives robotic needle steering through a set of surgeon-defined entry/exit points on a tissue pad phantom. Implementation results indicate good depth resolution (1.5mm) and task repeatability (85%) for a variety of consistency, lighting, and location variation scenarios.
{"title":"A single arm, single camera system for automated suturing","authors":"S. Iyer, T. Looi, J. Drake","doi":"10.1109/ICRA.2013.6630582","DOIUrl":"https://doi.org/10.1109/ICRA.2013.6630582","url":null,"abstract":"In this paper, a novel approach for automated suturing is introduced and experimental results are presented. Unlike other similar works, the proposed approach adopts a single arm to implement a suturing task with a standard laparoscopic needle holder and curved suture needle. 3D information is obtained from a clinical (single camera) endoscope through an elliptical/circular pose measurement algorithm, which dynamically tracks the suture needle and surface markers. This drives robotic needle steering through a set of surgeon-defined entry/exit points on a tissue pad phantom. Implementation results indicate good depth resolution (1.5mm) and task repeatability (85%) for a variety of consistency, lighting, and location variation scenarios.","PeriodicalId":259746,"journal":{"name":"2013 IEEE International Conference on Robotics and Automation","volume":"405 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132729022","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-05-06DOI: 10.1109/ICRA.2013.6630942
T. Noda, J. Furukawa, T. Teramae, S. Hyon, J. Morimoto
This study proposes the design of electromyography (EMG)-based force feedback controller which explicitly considers human-robot interaction for the exoskeletal assistive robot. Conventional approaches have been only consider one-directional mapping from EMG to control input for assistive robot control. However, EMG and force generated by the assistive robot interfere each other, e.g., amplitude of EMG decreases if limb movements are assisted by the robot. In our proposed method, we first derive the nonlinear mapping from EMG signal to muscle force for estimating human joint torque, and convert it to assistive force using human musculoskeletal model and robot kinematic model. Additionally the feedforward interaction torque is feedback into torque controller to acquire the necessity loads. To validate the feasibility of the proposed method, assistive One-DOF system was developed as the real equipment and the simulator. We compared the proposed method with conventional approaches using both the simulated and the real One-DOF systems. As the result, we found that the proposed model was able to estimate the necessary torque adequately to achieve stable human-robot interaction.
{"title":"An electromyogram based force control coordinated in assistive interaction","authors":"T. Noda, J. Furukawa, T. Teramae, S. Hyon, J. Morimoto","doi":"10.1109/ICRA.2013.6630942","DOIUrl":"https://doi.org/10.1109/ICRA.2013.6630942","url":null,"abstract":"This study proposes the design of electromyography (EMG)-based force feedback controller which explicitly considers human-robot interaction for the exoskeletal assistive robot. Conventional approaches have been only consider one-directional mapping from EMG to control input for assistive robot control. However, EMG and force generated by the assistive robot interfere each other, e.g., amplitude of EMG decreases if limb movements are assisted by the robot. In our proposed method, we first derive the nonlinear mapping from EMG signal to muscle force for estimating human joint torque, and convert it to assistive force using human musculoskeletal model and robot kinematic model. Additionally the feedforward interaction torque is feedback into torque controller to acquire the necessity loads. To validate the feasibility of the proposed method, assistive One-DOF system was developed as the real equipment and the simulator. We compared the proposed method with conventional approaches using both the simulated and the real One-DOF systems. As the result, we found that the proposed model was able to estimate the necessary torque adequately to achieve stable human-robot interaction.","PeriodicalId":259746,"journal":{"name":"2013 IEEE International Conference on Robotics and Automation","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128818824","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-05-06DOI: 10.1109/ICRA.2013.6631408
Gontje C. Claasen, Philippe Martin, K. Graichen
We present an analysis of the error growth in inertial tracking due to sensor noise. This analysis focuses on a problem arising in tracking systems with both optical and inertial sensors. Optical sensors always need a line-of-sight, and a natural idea is to continue tracking using only inertial sensors during an occlusion when the line-of-sight is lost. Several error sources are present in inertial tracking; here we consider the error due to sensor noise which cannot be compensated and is present even if the setup is perfectly calibrated and initialized. The result of this analysis is a mathematical expression for the expected error as a function of time and provides an answer to the following two questions: Depending on the precision needed and the inertial sensors employed, for how long is purely inertial tracking possible? Which sensor characteristics have to be improved to decrease the tracking error?
{"title":"Error growth due to noise during occlusions in inertially-aided tracking systems","authors":"Gontje C. Claasen, Philippe Martin, K. Graichen","doi":"10.1109/ICRA.2013.6631408","DOIUrl":"https://doi.org/10.1109/ICRA.2013.6631408","url":null,"abstract":"We present an analysis of the error growth in inertial tracking due to sensor noise. This analysis focuses on a problem arising in tracking systems with both optical and inertial sensors. Optical sensors always need a line-of-sight, and a natural idea is to continue tracking using only inertial sensors during an occlusion when the line-of-sight is lost. Several error sources are present in inertial tracking; here we consider the error due to sensor noise which cannot be compensated and is present even if the setup is perfectly calibrated and initialized. The result of this analysis is a mathematical expression for the expected error as a function of time and provides an answer to the following two questions: Depending on the precision needed and the inertial sensors employed, for how long is purely inertial tracking possible? Which sensor characteristics have to be improved to decrease the tracking error?","PeriodicalId":259746,"journal":{"name":"2013 IEEE International Conference on Robotics and Automation","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115587198","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-05-06DOI: 10.1109/ICRA.2013.6631086
Maxim Kristalny, J. Cho
Stabilization of delayed bilateral teleoperation systems with two master devices is considered. It is shown that allowing communication between the master devices may greatly facilitate the solution rendering the problem quadratically invariant. A convenient structure possessed by stabilizing controllers is revealed, which can be considered as an alternative to passivity-based structures. It is shown that any stabilizing controller can be implemented to comply with this structure, which, in turn, guarantees delay-independent stability of the overall system. The behavior of stabilizing controllers having the proposed structure is illustrated by simulations.
{"title":"On the stabilization of cooperative bilateral teleoperation systems with time delays","authors":"Maxim Kristalny, J. Cho","doi":"10.1109/ICRA.2013.6631086","DOIUrl":"https://doi.org/10.1109/ICRA.2013.6631086","url":null,"abstract":"Stabilization of delayed bilateral teleoperation systems with two master devices is considered. It is shown that allowing communication between the master devices may greatly facilitate the solution rendering the problem quadratically invariant. A convenient structure possessed by stabilizing controllers is revealed, which can be considered as an alternative to passivity-based structures. It is shown that any stabilizing controller can be implemented to comply with this structure, which, in turn, guarantees delay-independent stability of the overall system. The behavior of stabilizing controllers having the proposed structure is illustrated by simulations.","PeriodicalId":259746,"journal":{"name":"2013 IEEE International Conference on Robotics and Automation","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124220008","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-05-06DOI: 10.1109/ICRA.2013.6630678
Woojin Kim, D. Kwak, H. Kim
This paper considers a boundary tracking problem using mobile sensor networks, in which we design controllers for the mobile sensors to obtain the boundary of physical events. We set the boundary estimation problem as a classification problem of the region in which the physical events occurs, and employ support vector learning (SVL). By using the hyper-dimensional radius function obtained from SVL, we build the hyper-potential field to generate a velocity vector field which is globally attractive to a desired closed path with circulation at the desired speed. We also study stabilizing the collective configuration of the multiple mobile sensors. To coordinate the mobile sensors in the formation that encloses the boundary, we define virtual phases of mobile sensors and compute the desired speed of each mobile sensors minimizing the level of synchrony of the virtual phases. Both a simulation and an experiment is performed and the results demonstrate that this study provides good performance of the collective boundary tracking.
{"title":"Joint detection and tracking of boundaries using cooperative mobile sensor networks","authors":"Woojin Kim, D. Kwak, H. Kim","doi":"10.1109/ICRA.2013.6630678","DOIUrl":"https://doi.org/10.1109/ICRA.2013.6630678","url":null,"abstract":"This paper considers a boundary tracking problem using mobile sensor networks, in which we design controllers for the mobile sensors to obtain the boundary of physical events. We set the boundary estimation problem as a classification problem of the region in which the physical events occurs, and employ support vector learning (SVL). By using the hyper-dimensional radius function obtained from SVL, we build the hyper-potential field to generate a velocity vector field which is globally attractive to a desired closed path with circulation at the desired speed. We also study stabilizing the collective configuration of the multiple mobile sensors. To coordinate the mobile sensors in the formation that encloses the boundary, we define virtual phases of mobile sensors and compute the desired speed of each mobile sensors minimizing the level of synchrony of the virtual phases. Both a simulation and an experiment is performed and the results demonstrate that this study provides good performance of the collective boundary tracking.","PeriodicalId":259746,"journal":{"name":"2013 IEEE International Conference on Robotics and Automation","volume":"260 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124262572","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-05-06DOI: 10.1109/ICRA.2013.6630922
Jared Goerner, N. Chakraborty, K. Sycara
In this paper, we study the problem of constructing a path for a mobile data collecting robot such that the total data collection cost (i.e., sum of transmission energy of the sensor nodes and movement energy of the robot) in a sensor network is minimized. We assume that the sensor nodes can transmit within a certain region around their position, which is called the communication set. We model the communication set as a convex set to take into account asymmetric transmission systems (like directional antennas). We derive a necessary condition for the optimality of a mobile robot tour through the communication sets. Based on this condition, we design a three-step approach to compute a local minimum of the optimization problem. We prove that our solution is guaranteed to be within a constant factor of the global optimal solution. Our algorithm works for both 2-dimensional and 3-dimensional sensor networks where the sensor nodes are heterogeneous and can have directional communication properties. In contrast, existing algorithms for computing data collecting routes are for planar sensor networks and assume the communication sets to be discs. We also present simulation results depicting the performance of our algorithm.
{"title":"Energy efficient data collection with mobile robots in heterogeneous sensor networks","authors":"Jared Goerner, N. Chakraborty, K. Sycara","doi":"10.1109/ICRA.2013.6630922","DOIUrl":"https://doi.org/10.1109/ICRA.2013.6630922","url":null,"abstract":"In this paper, we study the problem of constructing a path for a mobile data collecting robot such that the total data collection cost (i.e., sum of transmission energy of the sensor nodes and movement energy of the robot) in a sensor network is minimized. We assume that the sensor nodes can transmit within a certain region around their position, which is called the communication set. We model the communication set as a convex set to take into account asymmetric transmission systems (like directional antennas). We derive a necessary condition for the optimality of a mobile robot tour through the communication sets. Based on this condition, we design a three-step approach to compute a local minimum of the optimization problem. We prove that our solution is guaranteed to be within a constant factor of the global optimal solution. Our algorithm works for both 2-dimensional and 3-dimensional sensor networks where the sensor nodes are heterogeneous and can have directional communication properties. In contrast, existing algorithms for computing data collecting routes are for planar sensor networks and assume the communication sets to be discs. We also present simulation results depicting the performance of our algorithm.","PeriodicalId":259746,"journal":{"name":"2013 IEEE International Conference on Robotics and Automation","volume":"327 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124298176","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-05-06DOI: 10.1109/ICRA.2013.6631154
Chonhyon Park, Jia Pan, Dinesh Manocha
We present a novel algorithm to compute collision-free trajectories in dynamic environments. Our approach is general and does not require a priori knowledge about the obstacles or their motion. We use a replanning framework that interleaves optimization-based planning with execution. Furthermore, we describe a parallel formulation that exploits a high number of cores on commodity graphics processors (GPUs) to compute a high-quality path in a given time interval. We derive bounds on how parallelization can improve the responsiveness of the planner and the quality of the trajectory.
{"title":"Real-time optimization-based planning in dynamic environments using GPUs","authors":"Chonhyon Park, Jia Pan, Dinesh Manocha","doi":"10.1109/ICRA.2013.6631154","DOIUrl":"https://doi.org/10.1109/ICRA.2013.6631154","url":null,"abstract":"We present a novel algorithm to compute collision-free trajectories in dynamic environments. Our approach is general and does not require a priori knowledge about the obstacles or their motion. We use a replanning framework that interleaves optimization-based planning with execution. Furthermore, we describe a parallel formulation that exploits a high number of cores on commodity graphics processors (GPUs) to compute a high-quality path in a given time interval. We derive bounds on how parallelization can improve the responsiveness of the planner and the quality of the trajectory.","PeriodicalId":259746,"journal":{"name":"2013 IEEE International Conference on Robotics and Automation","volume":"456 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124319757","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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