Environmental Support Method for Mobile Manipulators Using Visual Marks with Memory Storage.

a novel method for trajectory planning of cooperative mobile manipulators

we design a two-stage scheme to consider trajectory planning problem of two mobile manipulators for cooperative transportation of a rigid body in presence of static obstacles. within the first stage, regarding the static obstacles we develop a method that searches the workspace for the shortest possible path between start and goal configurations by constructing a graph on a portion of the confi...

Using Manipulability with Nonholonomi Mobile Manipulators

Memory-Centric Data Storage for Mobile Systems

Current data storage on smartphones mostly inherits from desktop/server systems a flash-centric design: The memory (DRAM) effectively acts as an I/O cache for the relatively slow flash. To improve both app responsiveness and energy efficiency, this paper proposes MobiFS, a memory-centric design for smartphone data storage. This design no longer exercises cache writeback at short fixed periods o...

Image-based visual servoing schemes for nonholonomic mobile manipulators

We consider the task-oriented modeling of the differential kinematics of nonholonomic mobile manipulators (NMMs). A suitable NMM Jacobian is defined that relates the available input commands to the time derivative of the task variables, and can be used to formulate and solve kinematic control problems. When the NMM is redundant with respect to the given task, we provide an extension of two well...

A Novel Method for Trajectory Planning of Cooperative Mobile Manipulators

We have designed a two-stage scheme to consider the trajectory planning problem of two mobile manipulators for cooperative transportation of a rigid body in the presence of static obstacles. In the first stage, with regard to the static obstacles, we develop a method that searches the workspace for the shortest possible path between the start and goal configurations, by constructing a graph on ...