{"id":12651,"date":"2021-11-15T18:14:54","date_gmt":"2021-11-15T23:14:54","guid":{"rendered":"https:\/\/carleton.ca\/scs\/?page_id=12651"},"modified":"2026-06-02T14:59:26","modified_gmt":"2026-06-02T18:59:26","slug":"tr-125-trajectory-planning-of-robot-manipulators-in-noisy-workspaces-using-stochastic-automata","status":"publish","type":"page","link":"https:\/\/carleton.ca\/scs\/research\/scs-technical-reports\/technical-reports-1987\/tr-125-trajectory-planning-of-robot-manipulators-in-noisy-workspaces-using-stochastic-automata\/","title":{"rendered":"TR-125: Trajectory Planning of Robot Manipulators in Noisy Workspaces Using Stochastic Automata"},"content":{"rendered":"\n<section class=\"w-screen px-6 cu-section cu-section--white ml-offset-center md:px-8 lg:px-14\">\n    <div class=\"space-y-6 cu-max-w-child-5xl  md:space-y-10 cu-prose-first-last\">\n\n            <div class=\"cu-textmedia flex flex-col lg:flex-row mx-auto gap-6 md:gap-10 my-6 md:my-12 first:mt-0 max-w-5xl\">\n        <div class=\"justify-start cu-textmedia-content cu-prose-first-last\" style=\"flex: 0 0 100%;\">\n            <header class=\"font-light prose-xl cu-pageheader md:prose-2xl cu-component-updated cu-prose-first-last\">\n                                    <h1 class=\"cu-prose-first-last font-semibold !mt-2 mb-4 md:mb-6 relative after:absolute after:h-px after:bottom-0 after:bg-cu-red after:left-px text-3xl md:text-4xl lg:text-5xl lg:leading-[3.5rem] pb-5 after:w-10 text-cu-black-700 not-prose\">\n                        TR-125: Trajectory Planning of Robot Manipulators in Noisy Workspaces Using Stochastic Automata\n                    <\/h1>\n                \n                                \n                            <\/header>\n\n                    <\/div>\n\n            <\/div>\n\n    <\/div>\n<\/section>\n\n<p>Carleton University<br>\n<a href=\"https:\/\/carleton.ca\/scs\/research\/scs-technical-reports\/technical-reports-1987\/\">Technical Report<\/a> <strong>TR-125<\/strong><br>\nOctober 1987<\/p>\n\n\n\n<h2 id=\"trajectory-planning-of-robot-manipulators-in-noisy-workspaces-using-stochastic-automata\" class=\"wp-block-heading tr_t1\">Trajectory Planning of Robot Manipulators in Noisy Workspaces Using Stochastic Automata<\/h2>\n\n\n\n<div class=\"tr_t3\">\n<div class=\"tr_t3\">\n<div class=\"tr_t3\">B.J. Oommen, S. Sitharam Iyengar , Nicte Andrade<\/div>\n<\/div>\n<\/div>\n\n\n\n<div>\n<h3>Abstract<\/h3>\n<p>We consider the problem of a robot manipulator operating in a noisy workspace. The robot is assigned the task of moving from Pi to Pt. Since Pi is its initial position, this position can be known fairly accurately. However, since Pf is usally obtained as a result of a sensing operation, possibly vision sensing, we assume that Pf is noisy. We propose a solution to achieve the motion which involves a new learning automaton, called the Discretized Linear Reward-Penalty (DLRp) automaton. The strategy we propose does not involve the computation of any inverse kinematics. Alternatively, an automaton is positioned at each joint of the robot, and by processing repeated noisy observations of P1 the automata operate in parallel to control the motion of the manipulator.<\/p>\n<\/div>\n\n\n\n<p><a href=\"https:\/\/carleton.ca\/scs\/wp-content\/uploads\/sites\/260\/tr-125.pdf\">TR-125.pdf<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>Carleton University Technical Report TR-125 October 1987 Trajectory Planning of Robot Manipulators in Noisy Workspaces Using Stochastic Automata B.J. Oommen, S. Sitharam Iyengar , Nicte Andrade Abstract We consider the problem of a robot manipulator operating in a noisy workspace. The robot is assigned the task of moving from Pi to Pt. Since Pi is [&hellip;]<\/p>\n","protected":false},"author":2,"featured_media":0,"parent":11827,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"_acf_changed":false,"_cu_dining_location_slug":"","footnotes":"","_links_to":"","_links_to_target":""},"cu_page_type":[],"class_list":["post-12651","page","type-page","status-publish","hentry"],"acf":{"cu_post_thumbnail":false},"_links":{"self":[{"href":"https:\/\/carleton.ca\/scs\/wp-json\/wp\/v2\/pages\/12651","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/carleton.ca\/scs\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/carleton.ca\/scs\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/carleton.ca\/scs\/wp-json\/wp\/v2\/users\/2"}],"replies":[{"embeddable":true,"href":"https:\/\/carleton.ca\/scs\/wp-json\/wp\/v2\/comments?post=12651"}],"version-history":[{"count":1,"href":"https:\/\/carleton.ca\/scs\/wp-json\/wp\/v2\/pages\/12651\/revisions"}],"predecessor-version":[{"id":12652,"href":"https:\/\/carleton.ca\/scs\/wp-json\/wp\/v2\/pages\/12651\/revisions\/12652"}],"up":[{"embeddable":true,"href":"https:\/\/carleton.ca\/scs\/wp-json\/wp\/v2\/pages\/11827"}],"wp:attachment":[{"href":"https:\/\/carleton.ca\/scs\/wp-json\/wp\/v2\/media?parent=12651"}],"wp:term":[{"taxonomy":"cu_page_type","embeddable":true,"href":"https:\/\/carleton.ca\/scs\/wp-json\/wp\/v2\/cu_page_type?post=12651"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}