Current design proposals of space manipulator systems use a relatively small dextrous manipulator attached to the end of a long flexible manipulator or supporting structure to perform a variety of tasks. Such a configuration presents a number of control problems due to the dynamic interaction between the components of the systems. Principally, the motion of the small manipulator can excite diff...

We consider a problem of motion planning under uncertainty. A robot can navigate freely in the plane and, using a built-in vision system, can determine distances and angles. Initially, the robot stands at a point close to a an edge of a polygonal obstacle (e. g. a wall of a huge building) and faces a corner at distance 1 from its position. The other wall which forms the corner is invisible from...

The planning competition has traditionally played an important role in motivating research and advances in Planning & Scheduling techniques. Despite its pivotal role in the planning community, some aspects of the competition have not been engineered yet. This is the case for the protocol for selecting benchmark instances. Benchmarks are of critical importance, since they can significantly affec...

A mobile robot system will typically have associated with it a number of sensing subsystems. If these sensing subsystems are \active", that is, using motion to aid in the sensing process 1, 2, 8, 9, 14], they will each be issuing motor requests related to the sensory processing algorithm that they are performing. In addition, the manipulatory portions of the robot system (i.e. those which uses ...

Recent years have shown a strong trend toward electronic information management in many fields. The use of office applications generated vast amounts of digital information and global multi-site organizations are increasingly faced with the need for advanced Information and Communication Technology (ICT) facilities for information management and distributed working. We address these requirement...