Integrated Control for Mobile Manipulation for Intelligent Materials Handling

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Author(s)
Arya, S.
Cameron, Jonathan M.
Gardner, Warren F.
Lawton, Daryl T.
MacKenzie, Douglas Christopher
Ramanathan, V.
Son, C.
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Abstract
An integrated control system architecture for mobile manipulators is presented. This architecture incorporates a hybrid reactive/hierarchical structure and partitions the task into macro- and micro-manipulation components. Computer vision and other sensor modalities provide the input necessary to cope with materials handling tasks in a partially modeled and dynamic world.
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1992
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Paper
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