Now showing items 1-8 of 8

    • A novel path planning proposal based on the combination of deterministic sampling and harmonic functions 

      Rosell Gratacòs, Jan; Vázquez Hurtado, Carlos; Pérez, Alexander; Iñíguez Galbete, Pedro (2007-03)
      External research report
      Open Access
      The sampling-based approach is currently the most successful and yet more promising approach to path planning problems. Sampling-based methods are demonstrated to be probabilistic complete, being their performance reliant ...
    • Autonomous motion planning of a hand-arm robotic system based on captured human-like hand postures 

      Rosell Gratacòs, Jan; Suárez Feijóo, Raúl; Rosales Gallegos, Carlos; Pérez, Alexander (2011-07)
      Article
      Open Access
      The paper deals with the problem of motion planning of anthropomorphic mechanical hands avoiding collisions and trying to mimic real human hand postures. The approach uses the concept of “principal motion directions” ...
    • C-space decomposition using deterministic sampling and distances 

      Rosell Gratacòs, Jan; Vázquez Hurtado, Carlos; Pérez, Alexander (Institute of Electrical and Electronics Engineers, 2007-11)
      Conference report
      Open Access
      Hierarchical cell decompositions of Configuration Space can be of great value for enhancing sampling-based path planners, as well as for other robotic tasks with requirements beyond the planning of free paths. This paper ...
    • Importance Sampling based on Adaptive Principal Component Analysis 

      Rosell Gratacòs, Jan; Cruz Llopis, Luis Javier de la; Pérez, Alexander; Suárez Feijóo, Raúl (IEEE, 2011)
      Conference report
      Open Access
      Sampling-based approaches are currently the most efficient ones to solve path planning problems, being their performance dependant on the ability to generate samples in those areas of the configuration space relevant to ...
    • Including virtual constraints in motion planning for anthropomorphic hands 

      Rosell Gratacòs, Jan; Suárez Feijóo, Raúl; Pérez, Alexander; Rosales Gallegos, Carlos (2011)
      Conference report
      Open Access
      This paper copes with the problem of finding a collision-free path for a hand-arm robotic system from an initial unconstrained configuration to a final grasping (or preshape) one. The aim is to obtain a natural motion as ...
    • Programming assignments to learn how to build a Probabilistic Roadmap Planner 

      Rosell Gratacòs, Jan; Pérez, Alexander (2008-09)
      External research report
      Open Access
      Research in robot motion planning requires the availability of a simulation environment where to test and validate the theoretic contributions. Nevertheless, PhD programs and graduate studies that include robot motion ...
    • Sampling C-obstacles border using a filtered deterministic sequence 

      Rosell Gratacòs, Jan; Pérez, Alexander (2008-09)
      External research report
      Open Access
      This paper is focused on the sampling process for path planners based on probabilistic roadmaps. The paper first analyzes three sampling sources: the random sequence and two deterministic sequences, Halton and sd(k), and ...
    • SDK: A proposal of a general and efficient deterministic sampling sequence 

      Rosell Gratacòs, Jan; Roa Garzón, Máximo; Pérez, Alexander; García, Fernando (2007-03)
      External research report
      Open Access
      Previous works have already demonstrated that deterministic sampling can be competitive with respect to probabilistic sampling in sampling-based path planners. Nevertheless, the definition of a general sampling sequence ...