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Fast On-Board Motion Planning for Modular Robots

The result's identifiers

  • Result code in IS VaVaI

    <a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F14%3A00221350" target="_blank" >RIV/68407700:21230/14:00221350 - isvavai.cz</a>

  • Result on the web

    <a href="http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6907008" target="_blank" >http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6907008</a>

  • DOI - Digital Object Identifier

    <a href="http://dx.doi.org/10.1109/ICRA.2014.6907008" target="_blank" >10.1109/ICRA.2014.6907008</a>

Alternative languages

  • Result language

    angličtina

  • Original language name

    Fast On-Board Motion Planning for Modular Robots

  • Original language description

    Modular robots, which are systems made of many robotic modules, can utilize various types of locomotion. Different approaches can be used to generate these basic motion skills ? motion primitives. To move in a complex environment, several motion primitives are needed and a mechanism to switch them is required. This can be realized using a high-level motion planning. To enable autonomous operation of modular robots equipped with limited computational resources, it is necessary to generate the motion plans on-board, i.e., without external computers. In this paper, we propose a novel simplified motion model of a modular robot, which allows the robot to employ the motion planner as a fast on-board replanner. The proposed approach has been verified both insimulations as well as with real robots.

  • Czech name

  • Czech description

Classification

  • Type

    D - Article in proceedings

  • CEP classification

    JC - Computer hardware and software

  • OECD FORD branch

Result continuities

  • Project

    Result was created during the realization of more than one project. More information in the Projects tab.

  • Continuities

    P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Others

  • Publication year

    2014

  • Confidentiality

    S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Data specific for result type

  • Article name in the collection

    ICRA2014: Proceedings of 2014 IEEE International Conference on Robotics and Automation

  • ISBN

    978-1-4799-3684-7

  • ISSN

  • e-ISSN

  • Number of pages

    6

  • Pages from-to

    1215-1220

  • Publisher name

    IEEE

  • Place of publication

    Piscataway

  • Event location

    Hong Kong

  • Event date

    May 31, 2014

  • Type of event by nationality

    WRD - Celosvětová akce

  • UT code for WoS article