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In this paper, we use the Kirchhoff equations to model of the dynamics of underwater rigid-bodies under some assumptions on the surrounding fluid. The Kirchhoff tensor, which totally characterizes the interaction of the rigid-body with the fluid is assumed to be unknown. We then propose a control law with an estimate of the Kirchhoff tensor and a corresponding update law for the estimate to track...
We propose a novel collision avoidance formulation in the intent space, suitable for navigation of non-holonomic robots in human centered environments. The intent space is characterized by various bands of trajectories wherein each band can be thought to be a representation of a possible human intended motion and the uncertainty associated with it. We ascribe probabilities to human intentions and...
Navigating non-holonomic mobile robots in dynamic environments is challenging because it requires computing at each instant, the space of collision free velocities, characterized by a set of highly non-linear and non-convex inequalities. Moreover, uncertainty in obstacle trajectories further increases the complexity of the problem, as it now becomes imperative to relate the space of collision free...
In this paper we consider the tracking of a non-maneuvering target using only passively recorded noise corrupted bearings data, in which some of the bearings data may be missing randomly or in continuous intervals over the observation duration. The modified instrumental variable algorithm is used for the estimation of the target trajectory parameters, namely, the course and speed of the target, both...
A Non-recursive Motion Similarity Clustering (NMSC) algorithm is proposed to identify pedestrians traveling together in social groups. The clustering algorithm is unsupervised and can automatically identify social groups within a region of interest in a video. Social groups are identified using only pedestrian motion information by imposing motion parameter thresholds defined by social psychological...
The current paper proposes a trajectory optimization approach for navigating a non-holonomic wheeled mobile robot in dynamic environments. The dynamic obstacle's motion is not known and hence is represented by a band of predicted trajectories. The trajectory optimization can account for large number of predicted obstacle trajectories and seeks to avoid each predicted trajectory of every obstacle in...
In this paper we introduce a novel framework of generating trajectories which explicitly satisfies the stability constraints such as no-slip and permanent ground contact on uneven terrain. The main contributions of this paper are: (1) It derives analytical functions depicting the evolution of the vehicle on uneven terrain. These functional descriptions enable us to have a fast evaluation of possible...
Exploration is a core and important robotics area, whose applications include search and rescue robotics, planetary exploration etc. We know that this exploration task is best performed when using a multi-robot system. In this paper, we present an algorithm for multi-robot exploration of an unknown environment, taking into account the communication constraints between the robots. The aim of the robots...
In this paper we propose a framework for optimum steering input determination of all-wheel steer vehicles (AWSV) on rough terrains. The framework computes the steering input which minimizes the tracking error for a given trajectory. Unlike previous methodologies of computing steering inputs of car-like vehicles, the proposed methodology depends explicitly on the vehicle dynamics and can be extended...
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