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. Author manuscript; available in PMC: 2010 Feb 22.
Published in final edited form as: IEEE Trans Robot. 2009;25(5):1109–1124. doi: 10.1109/tro.2009.2027375

Fig. 10.

Fig. 10

Target (T) being projected into the transverse plane of the robot during (a) navigation and (b) fine positioning. The projected target (TF) is shown by the cross, while the acceptable target-acquisition region is shown by the white circle. The concentric light gray circle shows the control-mode boundary between navigation and fine positioning.