A constraint-based approach for computing fault tolerant robot programs
We develop a new framework, based on the Least Constraint, for programming robots to perform a task using a fault tolerant trajectory. We take a specification of the task, expressed as a set of constraints on the robot's configuration over time, and produce a fault tolerant trajectory. The m...
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| Language: | English |
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2009
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| Online Access: | http://hdl.handle.net/2429/11987 |