In this paper, we propose a motion planning method for cooperative transportation of a large object by multiple mobile robots in a 3 dimensional environment. This task has various kinds of problems, such as path planning, manipulation, and so on. All of these problems can’t be solved at once, since computational time is exploded. Accordingly, we divide a motion planner into a local manipulation...

In this paper, we propose a motion-planning method of multiple mobile robots for cooperative transportation of a large object in a three-dimensional environment. This task has various kinds of problems, such as obstacle avoidance and stable manipulation. All of these problems cannot be solved at once, since it would result in a dramatic increase of the computational time. Accordingly, we divide...

Mobile manipulation capabilities are key to many new applications of robotics in space, underwater, construction, and service environments. This article discusses the ongoing effort at Stanford University for the development of multiple mobile manipulation systems and presents the basic models and methodologies for their analysis and control. This work builds on four methodologies we have previ...

This paper reports a CG editor implementation which uses canonical formation as the direct manipulation metaphore. The editor is written in Java and embedded within the WekKB indexation tool. The user's mental map is explicitly supported by a separate representation of a graph's visual layout. In addition, cooperative knowledge formulation is supported by network-aware work-sharing features. Th...

Involvement of the ossicular chain by temporal bone disease can seldom be evaluated adequately on routine axial and coronal CT views [1-5]. Direct sagittal tomography views delineate these structures clearly [6, 7], but CT views require considerable manipulation of cooperative patients and are seldom reproducible in the exact planes in repeated examinations [8, 9]. High-resolution lateral obliq...

Active documents result from a combination of some specific features in documents and some mechanisms in a document manipulation system. In this paper we present the possibilities offered by a structured model of documents and a structured editor for making active documents. Several applications are described (annotations, electronic indexes, cooperative editing, documents as user interfaces, e...

Joint-stock cooperative company is not recognized in Commercial Code of Iran and the amendment bill of the Commercial Code adopted in 1968. This business entity has a unique description because of both being cooperative and having joint stock. It is a joint-stock company that is chartered based on Commercial Code of Iran, amendment bill of the Commercial Code adopted in 1968, and Principle 44 o...