In this survey we provide a comprehensive technical review of existing major approaches to
path-planning for visual servoing. Visual servoing has been introduced as a promising …

In order for humanoid robots to enter human-centred environments, it is indispensable to
equip them with manipulative, perceptive and communicative skills necessary for real-time …

Temporal projection is the computational problem of predicting what will happen when a
robot executes its plan. Temporal projection for everyday manipulation tasks such as table …

We incorporate sampling-based global path planning with Visual Servoing (VS) for a robotic
arm equipped with an in-hand camera. The path planning accounts for a number of …

This work presents an approach for humanoid Next Best View (NBV) planning that exploits
full body motions to observe objects occluded by obstacles. The task is to explore a given …

The paper presents an outline of the specification of a robot controller used in manipulation
tasks requiring object grasping by a multi-fingered gripper and interaction with the …

This work studies the interaction of non-holonomic and visibility constraints using a
Differential Drive Robot (DDR) that has to keep static landmarks in sight in an environment …

We describe a simple approach for executing manipulation programs in the presence of
significant, but bounded, uncertainty. The key idea is to maintain a belief-state (a probability …

New mobile robotic platforms such as Willow Garage's PR2 that can operate in a human
household are able to perform complex tasks such as cooking food or cleaning up …

A major strength of humanoid robotics platforms consists in their potential to perform a wide
range of manipulation tasks in human-centered environments thanks to their …