TY - CONF T1 - Dynamic motion control of multi-segment soft robots using piecewise constant curvature matched with an augmented rigid body model T2 - RoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics Y1 - 2019 A1 - R. K. Katzschmann A1 - C. D. Santina A1 - Y. Toshimitsu A1 - A. Bicchi A1 - D. Rus JF - RoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics ER - TY - JOUR T1 - Exact Task Execution in Highly Under-Actuated Soft Limbs: An Operational Space Based Approach JF - IEEE Robotics and Automation Letters Y1 - 2019 A1 - C. Della Santina A1 - L. Pallottino A1 - D. Rus A1 - A. Bicchi VL - Volume: 4 , Issue: 3 , July 2019 ER - TY - CONF T1 - Dynamic Control of Soft Robots Interacting with the Environment T2 - IEEE International Conference on Soft Robotics Y1 - 2018 A1 - C. Della Santina A1 - R. K. Katzschmann A1 - A. Bicchi A1 - D. Rus KW - Robotics JF - IEEE International Conference on Soft Robotics PB - IEEE CY - 24 - 28 April 2018, Livorno, Italy UR - https://ieeexplore.ieee.org/abstract/document/8404895 ER - TY - CHAP T1 - Optimal planning for coordinated vehicles with bounded curvature T2 - Algorithmic and Computational Robotics: New Directions Y1 - 2000 A1 - A. Bicchi A1 - L. Pallottino ED - B. Donald ED - K. Lynch ED - D. Rus KW - Air Traffic Management Systems KW - Autonomous Vehicles KW - Navigation and Planning AB -

In this paper we consider the problem of planning motions of a system of multiple vehicles moving in a plane. Each vehicle is modelled as a kinematic system with velocity constraints and curvature bounds. Vehicles can not get closer to each other than a predefined safety distance. For such system of multiple vehicles, we consider the problem of planning optimal paths in the absence of obstacles. The case when a constant distance between vehicles is enforced (such as when cooperative manipulation of objects is performed by the vehicle team) is also considered.

JF - Algorithmic and Computational Robotics: New Directions PB - A K Peters, MA VL - 1 N1 -

The Workshop on Algorithmic Foundations of Robotics

ER -