7 accepted papers
This letter describes an extension of the classic Lazy Probabilistic Roadmaps algorithm (Lazy PRM), which results from pairing PRM and a novel Branch-and-Cut (BC) algorithm. Cuts are dynamically generated constraints that are imposed on minimum cost paths over the geometric graphs selected by PRM. C
With advances in image processing and machine learning, it is now feasible to incorporate semantic information into the problem of simultaneous localisation and mapping (SLAM). Previously, SLAM was carried out using lower level geometric features (points, lines, and planes) which are often view-poin…
Human-prosthetic interfaces require their settings to be tuned to individual users. This can potentially be done autonomously while the prosthesis user performs a task by using online personalisation algorithms. These online personalisation algorithms adjust the interface parameters to optimise a gi
Traditional task assignment approaches for multi-agent motion control do not take the possibility of collisions into account. This can lead to challenging requirements for path planning. We derive an assignment method that not only minimises the largest distance between an agent and its assigned des
The manuscript “Tactile-based Blind Grasping: A Discrete-Time Object Manipulation Controller for Robotic Hands” contains results that are dependent on two references. Since publication, we realized that one of these references has inconsistent results regarding continuity of quadratic programs. The
Robust object manipulation using a robotic hand remains a challenging task, especially when a priori knowledge of the object being manipulated is not available. Tactile-based blind grasping is hereby defined where only typical sensors on-board the robotic hand unit are available. In this letter, we
The manipulation of objects is an inherent capability of dexterous human hands. However, state-of-the-art prostheses are limited to only forming grasps and gestures due to the low information transfer rate in the human-machine interface. Additionally, in the prosthetic setting the hand is not privy…