M. M. Postnikov: his life, work and legacy
Modelling and control of an omnidirectional mobile manipulator
A new approach to control an omnidirectional mobile manipulator is developed. The robot is considered to be an individual agent aimed at performing robotic tasks described in terms of a displacement and a force interaction with the environment. A reactive architecture and impedance control are used to ensure reliable task execution in response to environment stimuli. The mechanical structure of our holonomic mobile manipulator is built of two joint manipulators mounted on a holonomic vehicle. The...
Motion planning in cartesian product graphs
Let G be an undirected graph with n vertices. Assume that a robot is placed on a vertex and n − 2 obstacles are placed on the other vertices. A vertex on which neither a robot nor an obstacle is placed is said to have a hole. Consider a single player game in which a robot or obstacle can be moved to adjacent vertex if it has a hole. The objective is to take the robot to a fixed destination vertex using minimum number of moves. In general, it is not necessary that the robot will take a shortest path...