Now showing items 7-26 of 26

    • Mathematical Questions in Robotics 

      Brockett, Roger; Ballieul, John; Donald, Bruce Randall; Murray, Richard; Raghavan, Madhusudan; Sastry, S. Shankar (Cornell University, 1990-02)
      No abstract is available.
    • The Motion of Planar Compliantly-Connected Rigid Bodies in ContactWith Applications to Automatic Fastening 

      Donald, Bruce Randall; Pai, Dinesh K. (Cornell University, 1992-07)
      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, 1990-08)
      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, 1993-04)
      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, 1990-05)
      No abstract is available.
    • On Planning: What is to be Done? 

      Donald, Bruce Randall (Cornell University, 1987-12)
      In this paper, we suggest research directions in domain-independent 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, 1988-08)
      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 minimal-time trajectory from ...
    • On the Probabilistic Analysis of Normal Form Computation of a Sparse Matrix 

      Donald, Bruce Randall; Chang, David Renpan (Cornell University, 1990-12)
      An $(s, t)$-sparse matrix has $s$ non-zero 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, 1989-11)
      Robot control systems are subject to significant uncertainty and error. Typical robots are also equipped with sensors-force sensors, kinesthetic positions sensors, tactile sensors, vision, and so forth. However, these ...
    • Planning Multi-Step Error Detection and Recovery Strategies 

      Donald, Bruce Randall (Cornell University, 1987-11)
      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 Optimal-Time Trajectory Planning 

      Donald, Bruce Randall; Xavier, Patrick G. (Cornell University, 1988-11)
      We consider the following problem: given a robot system, find a minimal-time 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, 1990-02)
      We consider the following problem: given a robot system, find a minimal-time trajectory from a start state to a goal state, while avoiding obstacles by a speed-dependent safety-margin 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, 1991-12)
      Algorithms in computational geometry often use the real-RAM 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 ...
    • Real-Time Robot Motion Planning Using Rasterizing Computer Graphics Hardware 

      Lengyel, Jed; Reichert, Mark; Donald, Bruce Randall; Greenberg, Donald P. (Cornell University, 1990-05)
      We present a real-time 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 Task-Directed Planning Using Perceptual Equivalence Classes 

      Donald, Bruce Randall; Jennings, James (Cornell University, 1991-12)
      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 ...
    • Simplified Voronoi Diagrams 

      Canny, John; Donald, Bruce Randall (Cornell University, 1987-11)
      We are interested in Voronoi diagrams as a tool in robot path planning, where the search for a path in an $r$ dimensional space may be simplified to a search on an $r-1$ dimensional Voronoi diagram. We define a Voronoi ...
    • Task-Level Planning and Task-Directed Sensing for Robots in Uncertain Environments 

      Donald, Bruce Randall; Jennings, James; rown, Russell (Cornell University, 1991-12)
      The primary goal of our research is task-level planning. We approach this goal by utilizing a blend of theory, implementation, and experimentation. We propose to investigate task-level planning for autonomous agents, ...
    • Towards a Theory of Information Invariants for Cooperating Autonomous Mobile Robots 

      Donald, Bruce Randall; Jennings, James; Rus, Daniela (Cornell University, 1993-09)
      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 ...
    • Towards Task Level Robot Programming 

      Donald, Bruce Randall (Cornell University, 1987-11)
      This paper summarizes our research efforts in robotics. The primary goal is to bring robotics science closer to its goal of task-level planning. We approach this goal through blend of theory, implementation, and ...
    • What Should a Roboticist do Next? A Progress Report From the Cornell Computer Science Robotics Laboratory 

      Donald, Bruce Randall; Pai, Dinesh K.; Xavier, Patrick G. (Cornell University, 1989-11)
      The most important intellectual capital of a research laboratory is its coherent vision of science, research and progress. In this progress report, we identify key areas of research, describe the progress we have made ...