In this paper, a new method was proposed for the navigation of a mobile robot in an unknown dynamic environment. The robot could detect only a limited radius of its surrounding with its sensors and it went on the shortest null space (SNS) toward the goal. In the case of no obstacle, SNS was a direct path from the robot to goal; however, in the presence of obstacles, SNS was a space around the r...

This paper investigates the task assignment problem for multiple dispersed robots constrained by limited communication range. The robots are initially randomly distributed and need to visit several target locations while minimizing the total travel time. A centralized rendezvous-based algorithm is proposed, under which all the robots first move towards a rendezvous position until communication ...

This paper examines the use of human-centered design in the problem of robot grasping. Human-directed local autonomy is deened. The diierences between a humanoid robot for human service and an industrial robot are discussed. The hardware and software design of a humanoid robot is described. The problem of human-robot interaction is analyzed. The grasping problem is described and a solution prop...

We present an open loop control design allowing to steer a wheeled mobile robot along a prespecified smooth geometric path, minimizing a given cost index and satisfying a set of dynamical constraints. Using the concept of “differential flatness,” the problem is equivalent to the selection of the optimal time parametrization of the geometric path. This parametrization is characterized by a diffe...