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Rozprawy doktorskie na temat „Robot sensing”

Autor: Grafiati

Data publikacji: 2 czerwca 2025

Data aktualizacji: 31 lipca 2025

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1

Kochekali, Homayun. "Force sensing enhancement of robot system." Thesis, Middlesex University, 1991. http://eprints.mdx.ac.uk/13488/.

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At present there is a general industrial need to improve robot performance. Force feedback, which involves sensing and actuation, is one means of improving the relative position between the workpiece and the end-effector. In this research work various causes of errors and poor robot performance are identified. Several methods of improving the performance of robotic systems are discussed. As a result of this research, a system was developed which is interposed between the wrist and the gripper of the manipulator. This system integrates a force sensor with a micro-manipulator, via an electronic

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2

Leonard, John J. "Directed sonar sensing for mobile robot navigation." Thesis, University of Oxford, 1990. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.260128.

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Philpott, M. L. "Direct arc sensing for robot MIG welding." Thesis, Cranfield University, 1986. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.376205.

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4

Long, Xianchao. "Tactile-Based Mobile Robot Navigation." Digital WPI, 2013. https://digitalcommons.wpi.edu/etd-theses/891.

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"This thesis presents an effective approach to study tactile based mobile robot navigation. A Matlab simulator, which can simulate the properties of the tactile sensors, the environment, and the motion of the robot, is developed. The simulator uses an abstraction model of a compliant tactile sensor to represent an array of sensors covering the robot. The tactile sensor can detect normal and shear forces. The simulator has been used by a set of human subjects to drive a robot in an indoor environment to capture data. The details of the implementation and the data collected are presented in this

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5

Chen, Ning. "Tactile sensing and direct touch-driven robot control." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1997. http://www.collectionscanada.ca/obj/s4/f2/dsk3/ftp04/nq21556.pdf.

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6

Wijesoma, Wijerupage Sardha. "Robot control using joint and end-effector sensing." Thesis, University of Cambridge, 1990. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.279587.

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7

Craver, Matthew David. "Mobile Robot Homing Control Based on Odor Sensing." Thesis, North Carolina State University, 2015. http://pqdtopen.proquest.com/#viewpdf?dispub=3690207.

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8

Sanchez, Loza Jose Manuel. "Shape sensing of deformable objects for robot manipulation." Thesis, Université Clermont Auvergne‎ (2017-2020), 2019. http://www.theses.fr/2019CLFAC012/document.

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Les objets déformables sont omniprésents dans notre vie quotidienne. Chaque jour, nous manipulons des vêtements dans des configurations innombrables pour nous habiller, nouons les lacets de nos chaussures, cueillons des fruits et des légumes sans les endommager pour notre consommation et plions les reçus dans nos portefeuilles. Toutes ces tâches impliquent de manipuler des objets déformables et peuvent être exécutées sans problème par une personne. Toutefois, les robots n'ont pas encore atteint le même niveau de dextérité. Contrairement aux objets rigides, que les robots sont maintenant capabl

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9

Mehdian, Mehrdad. "Tactile sensing for automata and prosthesis." Thesis, University of Greenwich, 1989. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.280490.

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10

Li, Youfu. "Robot proximity sensing and a strategy for transition control." Thesis, University of Oxford, 1993. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.334263.

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11

Harber, John A. "A dual hoist robot crane for large area sensing." Thesis, Georgia Institute of Technology, 2016. http://hdl.handle.net/1853/55035.

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Cranes are used to lift and move large objects in a wide variety of applications at constructions sites, shipping ports, and manufacturing facilities, etc. If the load to be moved is too long or heavy for a single crane, then two, or more, cranes must work in cooperation to move the payload. In a factory setting this can be accomplished using two trolleys running along the same bridge forming a dual hoist crane. Using two hoists not only increases lifting capacity, it also improves stability of the payload over traditional single hoist configurations. This research takes advantage of that incr

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12

Santoso, Junius. "Toward Deployable Origami Continuum Robot: Sensing, Planning, and Actuation." Digital WPI, 2019. https://digitalcommons.wpi.edu/etd-dissertations/582.

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Continuum manipulators which are robot limbs inspired by trunks, snakes, and tentacles, represent a promising field in robotic manipulation research. They are well known for their compliance, as they can conform to the shape of objects they interact with. Furthermore, they also benefit from improved dexterity and reduced weight compared to traditional rigid manipulators. The current state of the art continuum robots typically consists of a bulky pneumatic or tendon-driven actuation system at the base, hindering their scalability. Additionally, they tend to sag due to their own weight and are w

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13

Unhelkar, Vaibhav Vasant. "Introducing mobile robots on the automotive final assembly line : control, sensing and human-robot interaction." Thesis, Massachusetts Institute of Technology, 2015. http://hdl.handle.net/1721.1/98814.

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Thesis: S.M., Massachusetts Institute of Technology, Department of Aeronautics and Astronautics, 2015.<br>Cataloged from PDF version of thesis.<br>Includes bibliographical references (pages 101-107).<br>Traditionally, robots in manufacturing have been deployed in caged, static and predictable environments. Advances in robotics are enabling industrial robots to emerge from these traditional habitats, and enter the final assembly to work along side humans. My thesis contributes to this effort through development of a mobile robot capable of operating on final automotive assembly lines to assist

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14

Fukuda, Toshio, Naoyuki Kubota, Baiqing Sun, Fei Chen, Tomoya Fukukawa, and Hironobu Sasaki. "ACTIVE SENSING FOR INTELLIGENT ROBOT VISION WITH RANGE IMAGING SENSOR." IEEE, 2010. http://hdl.handle.net/2237/14442.

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15

Luk, Bing Lam. "Robot force sensing using stochastic monitoring of the actuator current." Thesis, University of Portsmouth, 1991. https://researchportal.port.ac.uk/portal/en/theses/robot-force-sensing-using-stochastic-monitoring-of-the-actuator-current(68595208-bde3-4992-91f8-214f70970e3d).html.

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16

Townsend, Neil William. "Neural networks for mobile robot localisation using infra-red range sensing." Thesis, University of Oxford, 1995. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.260753.

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17

Baharin, Iskandar Bin. "Kinematics, dynamics and vision sensing in a modified SCARA-type robot." Thesis, University of Bradford, 1990. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.292625.

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18

Akrawi, Shereen Ghanim. "Sensing and real-time expert system for a masonry building robot." Thesis, City University London, 1998. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.266290.

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19

Su, Hao. "Force Sensing and Teleoperation of Continuum Robot for MRI-Guided Surgery." Digital WPI, 2013. https://digitalcommons.wpi.edu/etd-dissertations/156.

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Percutaneous needle placement, a minimally invasive procedure performed dozens of millions in the U.S. each year, relies on dedicated skill and long-term training due to difficult control of needle trajectory inside tissue and mental registration of images to locations inside the patient. Inaccurate needle placement may miss cancer tumors during diagnosis or eradicate healthy tissue during therapy. MRI provides ideal procedure guidance with the merit of excellent soft tissue contrast and volumetric imaging for high spatial resolution visualization of targets and surgical tool. However, manual

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20

Benton, Thomas Henry. "Two Axis Fixture Calibration Utilizing Industrial Robot Artifact Object Touch Sensing." University of Dayton / OhioLINK, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=dayton1591268868419905.

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21

Schairer, Timo [Verfasser]. "Integrating Sensing, Localization and Visualization in the Robot Control Loop / Timo Schairer." München : Verlag Dr. Hut, 2012. http://d-nb.info/1020299010/34.

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22

Kim, T. "Development of PVDF tactile dynamic sensing in a behaviour-based assembly robot." Thesis, University of Edinburgh, 1996. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.653404.

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The research presented in this thesis focuses on the development of tactile event signature sensors and their application, especially in reactive behaviour-based robotic assembly systems. In pursuit of practical and economic sensors for detecting part contact, the application of PVDF (polyvinylidene fluoride) film, a mechanical vibration sensitive piezo material, is investigated. A <I>Clunk Sensor</I> is developed which remotely detects impact vibrations, and a <I>Push Sensor</I> is developed which senses small changes in the deformation of a compliant finger surface. The <I>Push Sensor</I> is

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23

Hall, Gavin Chase. "Decentralized mixing function control strategy for multi-robot informative persistent sensing applications." Thesis, Massachusetts Institute of Technology, 2014. http://hdl.handle.net/1721.1/96461.

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Thesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2014.<br>Cataloged from PDF version of thesis.<br>Includes bibliographical references (pages 119-121).<br>In this thesis, we present a robust adaptive control law that enables a team of robots to generate locally optimal closed path persistent sensing trajectories through information rich areas of a dynamic, unknown environment. This controller is novel in that it allows the robots to combine their global sensor estimates of the environment using a mixing function to opt for either: (1) minimum variance

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24

Fukuda, Toshio, Baiqing Sun, Fei Chen, Tomoya Fukukawa, and Hironobu Sasaki. "Active Sensing and Information Structuring for Intelligent Robot Vision with Range Imaging Sensor." IEEE, 2010. http://hdl.handle.net/2237/14441.

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25

Gehrman, Daniel John. "Utilization of force sensing in the modified inverse damping control of robot manipulators." Thesis, Georgia Institute of Technology, 1987. http://hdl.handle.net/1853/17279.

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26

Seals, Richard Charles. "Environment sensing and modelling, path finding and position location for a mobile robot." Thesis, University of Surrey, 1985. http://epubs.surrey.ac.uk/770242/.

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The results of previous research into mobile robotics were studied and several fundamental properties deduced. These were then considered in detail and optimum techniques selected for implementation on a prototype mobile robot. Several constraints were placed .on the prototype mobile robot, such as the potential for untethered use (i.e. no umbilical connections) and minimum restrictions on the environment. The investigation was concentrated in four main areas: environment modelling, path selection and following, absolute position location and environment sensors. An initial simulation was impl

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27

Zhang, Zhongkai. "Vision-based calibration, position control and force sensing for soft robots." Thesis, Lille 1, 2019. http://www.theses.fr/2019LIL1I001/document.

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La modélisation de robots souples est extrêmement difficile, à cause notamment du nombre théoriquement infini des degrés de liberté. Cette difficulté est accentuée lorsque les robots ont des configurations complexes. Ce problème de modélisation entraîne de nouveaux défis pour la calibration et la conception des commandes des robots, mais également de nouvelles opportunités avec de nouvelles stratégies de détection de force possibles. Cette thèse a pour objectif de proposer des solutions nouvelles et générales utilisant la modélisation et la vision. La thèse présente dans un premier temps un mo

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28

Sandberg, Robert D. "Use of tactile and vision sensing for recognition of overlapping parts for robot manipulation." Thesis, Georgia Institute of Technology, 1985. http://hdl.handle.net/1853/18910.

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29

Sifat, Ashrarul Haq. "Tactile Sensing System Integrated to Compliant Foot of Humanoid Robot for Contact Force Measurement." Thesis, Virginia Tech, 2018. http://hdl.handle.net/10919/87082.

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Human beings have a touch and force estimation mechanism beneath their feet. They use this feeling of touch and force to maintain balance, walk, run and perform various agile motions. This paper presents a new sensor platform beneath the humanoid feet, enabled by a pragmatic model based compliant foot design and sensor configuration that mimics the human tactile sensory system for contact force measurement in humanoid robots. Unlike previous force sensor based approaches, the system is defined as a total and sufficient method of Ground Reaction Force (GRF) and Zero Moment Point (ZMP) measureme

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30

Brown, Daniel Sundquist. "Toward Scalable Human Interaction with Bio-Inspired Robot Teams." BYU ScholarsArchive, 2013. https://scholarsarchive.byu.edu/etd/3776.

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Bio-inspired swarming behaviors provide an effective decentralized way of coordinating robot teams. However, as robot swarms increase in size, bandwidth and time constraints limit the number of agents a human can communicate with and control. To facilitate scalable human interaction with large robot swarms it is desirable to monitor and influence the collective behavior of the entire swarm through limited interactions with a small subset of agents. However, it is also desirable to avoid situations where a small number of agent failures can adversely affect the collective behavior of the swarm.

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31

Baleia, José Rodrigo Ferreira. "Haptic robot-environment interaction for self-supervised learning in ground mobility." Master's thesis, Faculdade de Ciências e Tecnologia, 2014. http://hdl.handle.net/10362/12475.

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Dissertação para obtenção do Grau de Mestre em Engenharia Eletrotécnica e de Computadores<br>This dissertation presents a system for haptic interaction and self-supervised learning mechanisms to ascertain navigation affordances from depth cues. A simple pan-tilt telescopic arm and a structured light sensor, both fitted to the robot’s body frame, provide the required haptic and depth sensory feedback. The system aims at incrementally develop the ability to assess the cost of navigating in natural environments. For this purpose the robot learns a mapping between the appearance of objects, give

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32

Teague, Nicole (Nicole Dawn). "Identifying the requirements of an agricultural robot for sensing and adjusting soil nutrient and pH levels." Thesis, Massachusetts Institute of Technology, 2011. http://hdl.handle.net/1721.1/68537.

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Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2011.<br>Cataloged from PDF version of thesis.<br>Includes bibliographical references (p. [14-15]).<br>The nutrient requirements of soils using in agriculture for crop production were examined to determine the needs of a robotic system used to detect and regulate the nutrition levels of the soil. Nitrogen, phosphorus, and potassium levels, along with pH, were chosen as the most important factors for regulation. Based on these four soil qualities, the basic functions the robot needs to be able to perform were

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Al-Mamury, Murtadha. "Smart electrostatic crop spraying using remote sensing technology." Thesis, Brunel University, 2015. http://bura.brunel.ac.uk/handle/2438/11326.

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For this thesis, smart spraying robot was designed, constructed and tested to validate the concept of smart pest control. Electrostatic charging of sprayed pesticide was realized in a spray nozzle design that improved plant coverage and reduced wasted pesticide as well as soil pollution. A thorough investigation into electrostatic spraying was conducted, which was accompanied by extensive simulations and experimentation. The results obtained from the simulation experimentation on industry standard electrostatic spray system (ESS) nozzles along with laboratory testing of these nozzles, detectin

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West, Jerry. "Orthoplanar Spring Based Compliant Force/Torque Sensor for Robot Force Control." Scholar Commons, 2017. http://scholarcommons.usf.edu/etd/6637.

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A compliant force/torque sensor for robot force control has been developed. This thesis presents methods of designing, testing, and implementing the sensor on a robotic system. The sensor uses an orthoplanar spring equipped with Hall-effect sensors to measure one component of force and two moment components. Its unique design allows for simple and cost effective manufacturing, high reliability, and compactness. The device may be used in applications where a robot must control contact forces with its environment, such as in surface cleaning tasks, manipulating doors, and removing threaded faste

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35

Kappassov, Zhanat. "Touch driven dexterous robot arm control." Thesis, Paris 6, 2017. http://www.theses.fr/2017PA066085/document.

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Les robots ont amélioré les industries, en particulier les systèmes d'assemblage basé sur des conveyors et ils ont le potentiel pour apporter plus de bénéfices: transports; exploration de zones dangereuses, mer profonde et même d'autres planètes; santé et dans la vie courante.Une barrière majeure pour leur évasion des environnements industriels avec des enceintes vers des environnements partagés avec les humains, c'est leur capacité réduite dans les tâches d’interaction physique, inclue la manipulation d'objets.Tandis que la dextérité de la manipulation n'est pas affectée par la cécité dans le

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36

Cuneyitoglu, Ozkul Mine. "Acoustic Perception Through The Ground Interaction Of Compliant Legs Of A Hexapod Robot." Master's thesis, METU, 2012. http://etd.lib.metu.edu.tr/upload/12614028/index.pdf.

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A dynamically dexterous legged robot platform generates specific acoustic signals during the interaction with the ground and the environment. These acoustic signals are expected to contain rich information that is related to the interaction surface as a function of the position of the legs and the overall contact process mixed with the actuator sounds that initiate the movement. As the robot platform walks or runs in any environment, this convolved acoustic signal created can be processed and analyzed in real time operation and the interaction surface can be identified. Such an utilizatio

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37

ALBINI, ALESSANDRO. "On the Use of Large Area Tactile Feedback for Contact Data Processing and Robot Control." Doctoral thesis, Università degli studi di Genova, 2020. http://hdl.handle.net/11567/1011468.

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The progress in microelectronics and embedded systems has recently enabled the realization of devices for robots functionally similar to the human skin, providing large area tactile feedback over the whole robot body. The availability of such kind of systems, commonly referred to as extit{robot skins}, makes possible to measure the contact pressure distribution applied on the robot body over an arbitrary area. Large area tactile systems open new scenarios on contact processing, both for control and cognitive level processing, enabling the interpretation of physical contacts. The contents

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Nemitz, Markus P. "HoverBot : a manufacturable swarm robot that has multi-functional sensing capabilities and uses collisions for two-dimensional mapping." Thesis, University of Edinburgh, 2018. http://hdl.handle.net/1842/33160.

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Swarm robotics is the study of developing and controlling large groups of robots. Collectives of robots possess advantages over single robots such as being robust to mission failures due to single-robot errors. Experimental research in swarm robotics is currently limited by swarm robotic technology. Current swarm robotic systems are either small groups of sophisticated robots or large groups of simple robots due to manufacturing overhead, functionality-cost dependencies, and their need to avoid collisions, amongst others. It is therefore useful to develop a swarm robotic system that is easy to

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39

Deyle, Travis. "Ultra high frequency (UHF) radio-frequency identification (RFID) for robot perception and mobile manipulation." Diss., Georgia Institute of Technology, 2011. http://hdl.handle.net/1853/42903.

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Personal robots with autonomy, mobility, and manipulation capabilities have the potential to dramatically improve quality of life for various user populations, such as older adults and individuals with motor impairments. Unfortunately, unstructured environments present many challenges that hinder robot deployment in ordinary homes. This thesis seeks to address some of these challenges through a new robotic sensing modality that leverages a small amount of environmental augmentation in the form of Ultra High Frequency (UHF) Radio-Frequency Identification (RFID) tags. Previous research has demo

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40

Carli, Nicola de. "Active perception and localization for multi-robot systems." Electronic Thesis or Diss., Université de Rennes (2023-....), 2024. http://www.theses.fr/2024URENS013.

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Dans cette thèse, nous nous attaquons aux défis de la localisation des systèmes multi-robots, en nous concentrant sur la localisation coopérative dans des formations non infiniment rigides avec des contraintes de détection. Nos contributions introduisent un cadre dans lequel les objectifs éventuellement conflictuels du maintien de la connectivité, de l'exécution des tâches et de l'acquisition d'informations sont "médiés" à l'aide d'un programme quadratique et des fonctions de barrière de contrôle et du formalisme de la fonction de Lyapunov de contrôle. Une autre contribution de cette thèse con

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41

Teoh, Pek Loo. "A study of single laser interferometry-based sensing and measuring technique in robot manipulator control and guidance. Volume 1." Monash University, Dept. of Mechanical Engineering, 2003. http://arrow.monash.edu.au/hdl/1959.1/9565.

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Gu, Jianhua Scott. "Development of impedance-sensing technology and an intelligent control system for robot-automated processing of flexible and natural objects." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1999. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape8/PQDD_0019/NQ46350.pdf.

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Kotze, Benjamin Johannes. "Navigation for automatic guided vehicles using omnidirectional optical sensing." Thesis, Bloemfontein : Central University of Technology, Free State, 2013. http://hdl.handle.net/11462/185.

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Thesis (M. Tech. (Engineering: Electrical)) -- Central University of technology, Free State, 2013<br>Automatic Guided Vehicles (AGVs) are being used more frequently in a manufacturing environment. These AGVs are navigated in many different ways, utilising multiple types of sensors for detecting the environment like distance, obstacles, and a set route. Different algorithms or methods are then used to utilise this environmental information for navigation purposes applied onto the AGV for control purposes. Developing a platform that could be easily reconfigured in alternative route applications

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44

Kowadlo, Gideon. "Robot odour localisation in enclosed and cluttered environments using naïve physics." Monash University. Faculty of Engineering. Department of Electrical and Computer Systems Engineering, 2007. http://arrow.monash.edu.au/hdl/1959.1/53471.

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Odour localisation is the problem of finding the source of an odour or other volatile chemical. It promises many valuable practical and humanitarian applications. Most localisation methods require a robot to reactively track an odour plume along its entire length. This approach is time consuming and may be not be possible in a cluttered indoor environment, where airflow tends to form sectors of circulating airflow. Such environments may be encountered in crawl-ways under floors, roof cavities, mines, caves, tree-canopies, air-ducts, sewers or tunnel systems. Operation in these places is import

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45

Laferrière, Pascal. "Instrumented Compliant Wrist System for Enhanced Robotic Interaction." Thesis, Université d'Ottawa / University of Ottawa, 2016. http://hdl.handle.net/10393/35502.

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This thesis presents the development of an instrumented compliant wrist mechanism which serves as an interface between robotic platforms and their environments in order to detect surface positions and orientations. Although inspired by similar existing devices, additional features such as noncontact distance estimations, a simplified physical structure, and wireless operation were incorporated into the design. The primary role envisioned for this mechanism was for enabling robotic manipulators to perform surface following tasks prior to contact as this was one requirement of a larger project i

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46

Morison, Alexander M. "Perspective Control: Technology to Solve the Multiple Feeds Problem in Sensor Systems." The Ohio State University, 2010. http://rave.ohiolink.edu/etdc/view?acc_num=osu1281931069.

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Day, Nathan McClain. "Tactile Sensing and Position Estimation Methods for Increased Proprioception of Soft-Robotic Platforms." BYU ScholarsArchive, 2018. https://scholarsarchive.byu.edu/etd/7004.

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Soft robots have the potential to transform the way robots interact with their environment. This is due to their low inertia and inherent ability to more safely interact with the world without damaging themselves or the people around them. However, existing sensing for soft robots has at least partially limited their ability to control interactions with their environment. Tactile sensors could enable soft robots to sense interaction, but most tactile sensors are made from rigid substrates and are not well suited to applications for soft robots that can deform. In addition, the benefit of being

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48

Atchuthan, Dinesh. "Towards new sensing capabilities for legged locomotion using real-time state estimation with low-cost IMUs." Thesis, Toulouse 3, 2018. http://www.theses.fr/2018TOU30316/document.

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L'estimation en robotique est un sujet important affecté par les compromis entre certains critères majeurs parmi lesquels nous pouvons citer le temps de calcul et la précision. L'importance de ces deux critères dépend de l'application. Si le temps de calcul n'est pas important pour les méthodes hors ligne, il devient critique lorsque l'application doit s'exécuter en temps réel. De même, les exigences de précision dépendent des applications. Les estimateurs EKF sont largement utilisés pour satisfaire les contraintes en temps réel tout en obtenant une estimation avec des précisions acceptables.

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Leborne, François. "Contributions à la commande de bras manipulateurs de robot sous-marin pour la manipulation à grande profondeur d'échantillons biologiques déformables." Thesis, Montpellier, 2018. http://www.theses.fr/2018MONTS044/document.

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Dans le cadre de la collecte sous-marine d'échantillons biologiques et minéraux pour la recherche scientifique par un robot sous-marin équipé de bras manipulateurs, ce projet de thèse a pour but principal le développement de nouvelles techniques de manipulation des échantillons, plus fiables, permettant d'en assurer l'intégrité physique et leur exploitabilité par les chercheurs. Les nouvelles techniques de manipulation proposées prennent en compte l'actionnement particulier des nouveaux bras électriques sous-marins équipant les engins récents, afin d'augmenter la précision du positionnement de

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Rosell, Gratacòs Jan. "Fine-motion planning for robotic assembly under modelling and sensing uncertainties." Doctoral thesis, Universitat Politècnica de Catalunya, 1998. http://hdl.handle.net/10803/5935.

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This thesis proposes a fine-motion planner for assembly tasks in the plane considering two degrees of freedom of translation and one of rotation, taking into account modelling and sensing uncertainties and the effect of friction. <br/>The proposed planner is based on a two-phase approach. First, uncertainty is not considered and a nominal solution path is searched in a graph representing the free configuration space, which has been obtained with an exact cell decomposition method. Then, uncertainty is considered and the arcs of the solution path are evaluated in order that the possible contact

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