Papers for Class Presentations and Research
Projects
will cover a wide variety of topics, for example a
programmable parts feeder, automatic
generation of assembly fixtures, or manipulation
with massively-parallel micro actuator arrays. Papers may be chosen,
among other sources, from
- Algorithms for Robotic Motion and Manipulation (editors J.-P.
Laumond and M. Overmars,), A. K. Peters Ltd., Wellesley MA, 1997.
- Algorithmic Foundations of Robotics (editors K. Goldberg, D.
Halperin, J.-C. Latombe, and R. Wilson), A. K. Peters Ltd., Wellesley MA
1995.
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Selection of Papers
Visibility and Recognizability
E. Paulos and J. Canny, Fast Construction of Near Optimal Probing
Strategies
Y.-B. Jia and M. Erdmann, The Complexity of Sensing by Point Sampling
Minimalism and Controllability
S. Akella, W. H. Huang, K. M. Lynch, and M. T. Mason, Sensorless
Parts Feeding with a One Joint Robot
K.-F. Böhringer, B. R. Donald, and N. C. MacDonald, Upper and
Lower Bounds for Programmable Vector Fields with Applications to MEMS and
Vibratory Parts Feeders
L. Kavraki, Part Orientation With Programmable Vector Fields: Two
Stable Equilibria for Most Parts
Algorithms for Manufacturing
R. Brost and K. Goldberg, A Complete Algorithm for Synthesizing Modular
Fixtures for Polygonal Parts
J. W. H. Tangelder, J. S. M. Vergeest, and M. Overmars Freeform
Shape Machining Using Minkowski Operations
C. Wentink, A. F. van der Stappen, and M. Overmars, Algorithms for
Fixture Design
H. Moradi and K. Goldberg, Compiling Assembly Plans into Hard Automation
Motion Planning and Mobile Robots
S. Lavalle, D. Lin, L. J. Guibas, and J.-C. Latombe, Finding an
Unpredictable Target in a Workspace with Obstacles
C. Langier, C. Bard, M Cherif, and A. Joukhadar, Solving Complex
Motion Planning Problems by Combining Geometric and Physical Models: The
Case of a Rover and of a Dexterous Hand
K. M. Lynch and M. T. Mason, Stable Pushing: Mechanics, Controllability,
and Planning
Design and Assembly
R. H. Wilson and J.-C. Latombe, Geometric Reasoning About Mechanical
Assembly
M. Frecker, G. K. Anathasuresh, S. Nishiwaki, N. Kikuchi, S. Kota,
Topological Synthesis of Compliant Mechanisms Using Multi-Criteria Optimization
M. Goldwasser and R. Motwani,
Complexity Measures for Assembly Sequences
Simulation
B. Mirtich and J. Canny, Impulse-Based Dynamic Simulation
Computational Algebra and Geometry
D. Halperin and M. Sharir, Arrangements and Their Applications in
Robotics: Recent Developments
Some of the papers are available online.
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