JavaScript is disabled for your browser. Some features of this site may not work without it.
Browsing by Author "Donald, Bruce Randall"
Now showing items 221 of 26

The Complexity of Planar Compliant Motion Planning Under Uncertainty
Donald, Bruce Randall (Cornell University, 198712)We consider the computational complexity of planning compliant motions in the plane, given geometric bounds on the uncertainty in sensing and control. We can give efficient algorithms for generating and verifying compliant ... 
Constructive Recognizability for TaskDirected Robot Programming
Donald, Bruce Randall; Jennings, James; rown, Russell (Cornell University, 199112)The primary goal of our research is tasklevel planning. We approach this goal by utilizing a blend of theory, implementation, and experimentation. We investigate tasklevel planning for autonomous agents, such as mobile ... 
The EIGHT Manual: A System for Geometric Modelling and ThreeDimensional Graphics on the Lisp Machine.
Donald, Bruce Randall (Cornell University, 199101)We describe a simple geometric modelling system called Eight which supports interactive creation, editing, and display of threedimensional polyhedral solids. Perspective views of a polyhedral environment may be generated, ... 
A Geometric Approach to Error Detection and Recovery for Robot Motion Planning With Uncertainty
Donald, Bruce Randall (Cornell University, 198801)Robots must plan and execute tasks in the presence of uncertainty. Uncertainty arises from sensing errors, control errors, and uncertainty in the geometric models of the environment and of the robot. The last, which we ... 
Information Invariants for Distributed Manipulation
Donald, Bruce Randall; Jennings, James; Rus, Daniela (Cornell University, 199406)In [Don4], we described a manipulation task for cooperating mobile robots that can push large, heavy objects. There, we asked whether explicit local and global communication between the agents can be removed from a family ... 
Mathematical Questions in Robotics
Brockett, Roger; Ballieul, John; Donald, Bruce Randall; Murray, Richard; Raghavan, Madhusudan; Sastry, S. Shankar (Cornell University, 199002)No abstract is available. 
The Motion of Planar CompliantlyConnected Rigid Bodies in ContactWith Applications to Automatic Fastening
Donald, Bruce Randall; Pai, Dinesh K. (Cornell University, 199207)We consider the problem of planning and predicting the motion of a flexible object amidst obstacles in the plane. We model the flexible object as a rigid "root" body, attached to compliant members by torsional springs. ... 
On Computing the Homology Type of a Triangulation
Donald, Bruce Randall; Chang, David Renpan (Cornell University, 199008)We analyze an algorithm for computing the homology type of a triangulation. By triangulation, we mean a finite simplicial complex; its homology type is given by its homology groups (with integer coefficients). The algorithm ... 
On Information Invariants in Robotics
Donald, Bruce Randall (Cornell University, 199304)We consider the problem of determining the information requirements to perform robot tasks, using the concept of information invariants. This paper represents our attempt to characterize a family of complicated and subtle ... 
On Large Scale Planar Manipulation
O'Donnell, Michael; Donald, Bruce Randall (Cornell University, 199005)No abstract is available. 
On Planning: What is to be Done?
Donald, Bruce Randall (Cornell University, 198712)In this paper, we suggest research directions in domainindependent planning, addressing several open problems. In particular, we present: A modal truth criterion for the planning of overlapping actions with multiple ... 
On the Complexity of Kinodynamic Planning
Canny, John; Donald, Bruce Randall; Reif, John; Xavier, Patrick G. (Cornell University, 198808)In robotics, kinodynamic planning attempts to solve a motion problem subject to simultaneous kinematic and dynamic constraints. We consider the following problem: given a robot system, find a minimaltime trajectory from ... 
On the Probabilistic Analysis of Normal Form Computation of a Sparse Matrix
Donald, Bruce Randall; Chang, David Renpan (Cornell University, 199012)An $(s, t)$sparse matrix has $s$ nonzero entries per column and $t$ per row. $(s, t)$sparse integer matrices arise in the computation of integral homology. In this paper, a probabilistic analysis is given for diagonalizing ... 
Planning and Executing Robot Assembly Strategies in the Presence of Uncertainty
Donald, Bruce Randall (Cornell University, 198911)Robot control systems are subject to significant uncertainty and error. Typical robots are also equipped with sensorsforce sensors, kinesthetic positions sensors, tactile sensors, vision, and so forth. However, these ... 
Planning MultiStep Error Detection and Recovery Strategies
Donald, Bruce Randall (Cornell University, 198711)Robots must plan and execute tasks in the presence of uncertainty. Uncertainty arises from sensing errors, control errors, and uncertainty in the geometry of the environment. By employing a combined strategy of force and ... 
A Provably Good Approximation Algorithm for OptimalTime Trajectory Planning
Donald, Bruce Randall; Xavier, Patrick G. (Cornell University, 198811)We consider the following problem: given a robot system, find a minimaltime trajectory from a start position and velocity to a goal position and velocity, while avoiding obstacles and respecting dynamic constraints on ... 
Provably Good Approximation Algorithms for Optimal Kinodynamic Planning for Cartesian Robots and Open Chain Manipulators
Donald, Bruce Randall; Xavier, Patrick G. (Cornell University, 199002)We consider the following problem: given a robot system, find a minimaltime trajectory from a start state to a goal state, while avoiding obstacles by a speeddependent safetymargin and respecting dynamics bounds. In ... 
A Rational Rotation Method for Robust Geometric Algorithms (Extended Abstract)
Canny, John; Donald, Bruce Randall; Ressler, Gene K. (Cornell University, 199112)Algorithms in computational geometry often use the realRAM model of computation. In particular, this model assumes that exact real numbers can be stored in and retrieved from memory in constant $O$ (1) time, and that ... 
RealTime Robot Motion Planning Using Rasterizing Computer Graphics Hardware
Lengyel, Jed; Reichert, Mark; Donald, Bruce Randall; Greenberg, Donald P. (Cornell University, 199005)We present a realtime robot motion planner that is fast and complete to a resolution. The technique is guaranteed to find a path if one exists at the resolution, and all paths returned are safe. The planner can handle ... 
Sensor Interpretation and TaskDirected Planning Using Perceptual Equivalence Classes
Donald, Bruce Randall; Jennings, James (Cornell University, 199112)We consider how a robot may interpret its sensors and direct its actions so as to gain more information about the world, and to accomplish manipulation tasks. The key difficulty is uncertainty, in the form of noise in ...