4 citations · 7 across the 5 of their papers we have counts for
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Achieving Unit-Consistent Pseudo-Inverse-based Path-Planning for Redundant Incommensurate Robotic Manipulators
Jacket Demby's, Jeffrey Uhlmann, Guilherme N. DeSouza
In this paper, we review and compare several velocity-level and acceleration-level Pseudo-Inverse-based Path Planning (PPP) and Pseudo-Inverse-based Repetitive Motion Planning (PRM…
Choosing the Correct Generalized Inverse for the Numerical Solution of the Inverse Kinematics of Incommensurate Robotic Manipulators
Jacket Demby's, Jeffrey Uhlmann, Guilherme N. DeSouza
Numerical methods for Inverse Kinematics (IK) employ iterative, linear approximations of the IK until the end-effector is brought from its initial pose to the desired final pose. T…
Path Planning in Dynamic Environments Using Time-Warped Grids and a Parallel Implementation
Siavash Farzan, Guilherme N. DeSouza
This paper proposes a solution to the problem of smooth path planning for mobile robots in dynamic and unknown environments. A novel concept of Time-Warped Grid is introduced to pr…