Cressel Anderson, Ben Axelrod, J. Philip Case, Jaeil Choi, Martin Engel, Gaurav Gupta, Florian Hecht, John Hutchinson, Niyant Krishnamurthi, Jinhan Lee, Hai Dai Nguyen, Richard Roberts, John Rogers, Alexander J. B. Trevor, Henrik Christensen, Charles Kemp
KEYWORDS: Navigation systems, Visualization, Control systems, Sensors, Visual process modeling, Systems modeling, Robotics, Particle filters, 3D modeling, Light sources and illumination
Mobile manipulation in many respects represents the next generation of robot applications. An important part
of design of such systems is the integration of techniques for navigation, recognition, control, and planning to
achieve a robust solution. To study this problem three different approaches to mobile manipulation have been
designed and implemented. A prototypical application that requires navigation and manipulation has been
chosen as a target for the systems. In this paper we present the basic design of the three systems and draw some
general lessons on design and implementation.
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