%0 Conference Paper %B RoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics %D 2019 %T Dynamic motion control of multi-segment soft robots using piecewise constant curvature matched with an augmented rigid body model %A R. K. Katzschmann %A C. D. Santina %A Y. Toshimitsu %A A. Bicchi %A D. Rus %B RoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics %0 Journal Article %J IEEE Robotics and Automation Letters %D 2019 %T Exact Task Execution in Highly Under-Actuated Soft Limbs: An Operational Space Based Approach %A C. Della Santina %A L. Pallottino %A D. Rus %A A. Bicchi %B IEEE Robotics and Automation Letters %V Volume: 4 , Issue: 3 , July 2019 %8 04/2019 %G eng %0 Conference Paper %B IEEE International Conference on Soft Robotics %D 2018 %T Dynamic Control of Soft Robots Interacting with the Environment %A C. Della Santina %A R. K. Katzschmann %A A. Bicchi %A D. Rus %K Robotics %B IEEE International Conference on Soft Robotics %I IEEE %C 24 - 28 April 2018, Livorno, Italy %8 07/2018 %U https://ieeexplore.ieee.org/abstract/document/8404895 %R https://doi.org/10.1109/ROBOSOFT.2018.8404895 %0 Book Section %B Algorithmic and Computational Robotics: New Directions %D 2000 %T Optimal planning for coordinated vehicles with bounded curvature %A A. Bicchi %A L. Pallottino %E B. Donald %E K. Lynch %E D. Rus %K Air Traffic Management Systems %K Autonomous Vehicles %K Navigation and Planning %X

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.

%B Algorithmic and Computational Robotics: New Directions %I A K Peters, MA %V 1 %P 167-172 %G eng