Historical perspective and state of the art in robot force control
International Journal of Robotics Research
Robot motion planning with uncertainty in control and sensing
Artificial Intelligence
Planning the Motions of a Mobile Robot in a Sensory Uncertainty Field
IEEE Transactions on Pattern Analysis and Machine Intelligence
Robot Motion Planning
Collision-probability constrained PRM for a manipulator with base pose uncertainty
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
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Abstract: This paper describes an algorithm for adjusting a robot motion plan in order to make it feasible in spite of control and sensing uncertainties in the robot configuration. The type of motion plan considered consists of a nominal commanded path, augmented by sensing mode specifications. The algorithm uses a bounding-set representation of uncertainties, which is also described. The control uncertainty is history independent, but the sensing uncertainty at one point in a plan depends on the prior sensing actions and the path traversed. The algorithm is a path-space algorithm, because it adjusts the entire plan simultaneously as it carries out the search.