Publications

The  works  are made mostly in cooperation with my supervisors Béla Lantos, Dr. , Shahram Payandeh, Dr.
and my collegue Bálint Kiss, Dr.


PhD thesis:

I. Harmati: Stratified motion and manipulation planning algorithms in robotics. PhD thesis, Budapest University of  Technology and Economics, 2004, Budapest, Hungary. ( download pdf - 1.29M)

Journal articles:


Harmati, I., B. Lantos and S. Payandeh: On fitted stratified and semi-stratified geometric manipulation planning with fingertips relocations. The International Journal of Robotics Research, Vol. 21, No. 5-6, May-June 2002, pp. 489-510.
(download pdf - 573k)

Harmati, I., B. Lantos and S. Payandeh: Semi-straified motion planning of multi-agent manipulation. Journal of Advanced Computational Intelligence, Vol 5., No 5, pp. 248-256, Fuji Press Ltd, Tokyo
( download pdf - 342k)

Harmati, I., B. Lantos and S. Payandeh: Improved stratified control for hexapod robots and object manipulation with finger relocation. Journal of Periodica Polytechnica, 43(3), pp. 163-175, Budapest, Hungary
( download pdf  185k -  It is the file from here )

Harmati, I., and  B. Kiss: Motion planning algorithms for stratified kinematic systems with application to hexapod robot.  Journal of Acta Cybernetica, 15(2), pp. 225-240, Szeged, Hungary
(download pdf - 406k)

International conference papers:

Harmati, I., B. Lantos and S. Payandeh: Stratified motion planning concept in stair-like environment. Proceedings of the Fourth International Workshop on Robot Motion and Control (RoMoCo '04), pp. 259-264, June 17-20, 2004, Puszczykowo, Poland
(download pdf - 160k)

Harmati, I, B. Kiss, B. Lantos: Two motion planning approaches for six-legged robots. Proceedings of the 3rd International Workshop on Robot Motion and Control (RoMoCo '02), ISBN 83-7143-429-4, pp. 87-92, November 9-11, 2002, Bukowy Dworek, Poland.
(download pdf - 227k)

Harmati, I., B. Lantos and S. Payandeh: Nonholonomic stratified motion planning along decomposed reference trajectories.
Proceedings of 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2002), pp. 2341-2346, Lausanne, Switzerland.
(download pdf - 190k)

Harmati, I., B. Lantos and S. Payandeh: Holonomic and nonholonomic stratified motion planning along decomposed trajectory for walking robots. Proceedings of 5th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines - CLAWAR 2002, Edited by Philipe Bideud and Faiz Ben Amar, ISBN 1 86058 380 6, pp. 579-586, Paris, France.
(download pdf - 115k)

Harmati, I., B. Lantos and S. Payandeh: Nonholonomic stratified motion planning using decomposed trajectories.
Proceedings of 8th IEEE International Conference on Methods and Models in Automation and Robotics (MMAR) 2002, pp. 953-958, Szczecin, Poland.
(download pdf - 226k)

Harmati, I., B. Lantos and S. Payandeh: Motion planning along decomposed trajectory for holonomic stratified systems. Proceedings of the 6th IEEE International Conference on Intelligent Engineering Systems (INES) 2002, pp. 81-86, Opatija, Croatia.
(download pdf - 235k)

Harmati, I., B. Lantos and S. Payandeh: Completely involutive representations for holonomic stratified motion planning. Proceedings of the 6th IEEE International Conference on Intelligent Engineering Systems (INES) 2002, pp. 35-40, Opatija, Croatia.
(download pdf - 209k)

Harmati, I., B. Lantos and S. Payandeh: On object manipulation methods using finger relocation.  Proceedings of the 10th International Conference on Advanced Robotics (ICAR '01), pp. 613-618, Budapest, Hungary.
(download pdf - 231k)

Kiss, B., Harmati, I. and B. Lantos: Motion planning for legged robots.  Proceedeings of the INTCOM '00 Tempus Symposium on Intelligent Systems in Control and Measurement. pp. 34-39, Veszprém, Hungary.
(download pdf - 231k)

Harmati, I., B. Lantos and S. Payandeh: Extensions of nonlinear control concept to object manipulation with finger relocation. Proceedings of the 6th Int. IFAC Symp. on Robot Control (SYROCO) 2000, pp. 223-228, Vienna, Austria
(download pdf - 165k)

Harmati, I., B. Lantos and S. Payandeh: Stratified control of multi-agent manipulation for objects with nonsmooth surfaces. Proceedings of the 4th IEEE international conference on Intelligent Engineering Systems (INES) 2000, pp. 59-62, Portoroz, Slovenia.
(download pdf - 208k)

Harmati, I. and B. Lantos: Adaptive control and on-line controller design for multivariable systems in state-space. Proceedings of the 3th IEEE international conference on Intelligent Engineering Systems (INES), pp. 201-206, Stara Lesna, Slovakia.
(download pdf - 123k)

Harmati, I. and B. Lantos:  Rétegezett irányítás és manipuláció (in Hungarian). Microcad 2002 konferencia, Miskolc, pp. 95-100, 2002 március 7-8.
( download pdf - 186k)

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