Now showing items 19-26 of 26

    • 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 ...