This paper presents a multisine approach for trajectory optimization based on information gain, with distance and orientation sensing to known beacons. It addresses the problem of active sensing, i.e. the selection of a robot motion or sequence of motions, which make the robot arrive in its desired goal configuration (position and orientation) with maximum accuracy, given the available sensor i...

In hotly competitive international industrial and economic environments, supply chain coordination (SCC) is one of active research topics in production and operation management. In this research work, we present a new consensus-based fuzzy TOPSIS approach for supply chain coordination problem. It is formulated as a multi-criteria group decision making (MCGDM) problem and solved by combining con...

The problem of tuning nonlinear dynamical systems parameters, such that the attained results are considered good ones, is a relevant one. This article describes the development of a gait optimization system that allows a fast but stable robot quadruped crawl gait. We combine bio-inspired Central Patterns Generators (CPGs) and Genetic Algorithms (GA). CPGs are modelled as autonomous differential...

In this paper, the four-precision-point geometric design problem of serial-link robot manipulators with three revolute joints is solved using a polynomial continuation method. At each precision point, the end-effector spatial locations are defined. The dimensions of the geometric parameters of the 3R manipulator are computed so that the manipulator’s end-effector will be able to reach these fou...

Case-based reasoning systems have traditionallybeen used to perform high-level reasoning in problem domains that can be adequately described using discrete, symbolic representations. However, many realworld problem domains, such as autonomous robotic navigation, are better characterized using continuous representations. Such problem domains also require continuous performance, such as continuou...

We present the Robot Gesture Library (RoGuE), a motion-planning approach to generating gestures. Gestures improve robot communication skills, strengthening robots as partners in a collaborative setting. Previous work maps from environment scenario to gesture selection. This work maps from gesture selection to gesture execution. We create a flexible and common language by parameterizing gestures...

This paper describes a Bayesian approach to model selection and state estimation for sensor-based robot tasks. The approach is illustrated with an example from autonomous compliant motion: simultaneous contact formation recognition and estimation of geometrical parameters. Previous research in this area mostly tries to solve one of the two subproblems, or treats the Contact Formation recognitio...