Continuous Path Planning in Robotics Systems with           Uncertainty
{'Code': '05020000', 'Directorate': {'Abbreviation': 'CSE', 'LongName': 'Direct For Computer & Info Scie & Enginr'}, 'Division': {'Abbreviation': 'IIS', 'LongName': 'Div Of Information & Intelligent Systems'}}
{'SignBlockName': 'Howard Moraff', 'PO_EMAI': None, 'PO_PHON': None}
The proposed work will develop algorithms for motion                       planning of three-dimensional manipulators operating amidst                     unknown obstacles of arbitrary shape.  The robot arms considered                here are assumed to have a contact-sensitive sensory skin such as               nearly all animals possess. (Such arms are being developed in a                 parallel project at Yale.)  Prior studies of the two-dimensional                case produced fast algorithms guaranteed to converge to a global                position goal.  This work will extend the simulation and                        mathematical analyses to three-dimensional arms of increasing                   complexity.
{'FirstName': 'Vladimir', 'LastName': 'Lumelsky', 'PI_MID_INIT': 'J', 'PI_SUFX_NAME': None, 'PI_FULL_NAME': 'Vladimir J Lumelsky', 'EmailAddress': 'lumelsky@engr.wisc.edu', 'NSF_ID': '000296907', 'StartDate': '01/01/1989', 'EndDate': None, 'RoleCode': 'Principal Investigator'}
{'Name': 'Yale University', 'CityName': 'NEW HAVEN', 'ZipCode': '065113572', 'PhoneNumber': '2037854689', 'StreetAddress': '150 MUNSON ST', 'StreetAddress2': None, 'CountryName': 'United States', 'StateName': 'Connecticut', 'StateCode': 'CT', 'CONGRESSDISTRICT': '03', 'CONGRESS_DISTRICT_ORG': 'CT03', 'ORG_UEI_NUM': 'FL6GV84CKN57', 'ORG_LGL_BUS_NAME': 'YALE UNIV', 'ORG_PRNT_UEI_NUM': 'FL6GV84CKN57'}
{'Name': None, 'CityName': None, 'StateCode': None, 'ZipCode': None, 'StreetAddress': None, 'CountryCode': None, 'CountryName': None, 'StateName': None, 'CountryFlag': None, 'CONGRESSDISTRICT': None, 'CONGRESS_DISTRICT_PERF': '""'}
{'Code': '6840', 'Text': 'ROBOTICS'}
{'url': 'https://www.nsf.gov/awardsearch/download?DownloadFileName=1988&All=true', 'xml': '8805943.xml'}