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This paper presents a path generation method for automated vehicles based on Bezier curve. Derivation of smooth path is one of important subjects for vehicle navigation system. Bezier curve is a smooth parametoric curve but assignment of its control points that detemine the shape of Bezier curve is not simple problem. In presented method, a general solution of nth order Bezier curve is formulated...
This paper describes about a prototype of active interaction experiment system between a cricket and an operated micro mobile robot and measured/collected data in real-time by using the system. The behavior selection of the cricket (Gyllus bimaculatus) is influenced by the experience or the context in living environment. Therefore, we are trying to investigate neuronal mechanisms underlying micro...
This paper found out the standard human motion which is exemplar motion for letting robot's motion approximate to human motion, and evaluated the human impression to the robot motion. The problems in case of finding out the standard human motion is how to specify one motion from different motions caused by individual physical characteristics and peculiarities. We have solved above problem by following...
The results of neurophysiological research have indicated the important role of neuromodulation in behavior decisions during fighting between male crickets. To understand such a dynamic behavior generation mechanism, we attempt to construct a neuromodulation model of behavior selection for the fighting behavior of a cricket. In this paper, we propose a dynamic system model of neuromodulation with...
In this paper, state-predictive control is applied to an autonomous blimp in the presence of time delay and disturbance. To this end, a state predictor to compensate time delay is constructed based on the separate-bias filters taking into account nonzero-mean disturbances. Experimental results show that constraint violations are reduced in model predictive control (MPC) with input and state constraints...
This paper focuses on how to design autonomous flight control systems taking into account input constraints due to actuator saturations and output limitations from the viewpoint of security. Model predictive control (MPC) is one of the most systematic ways to handle such constraints. To implement MPC, we first construct a simple linear model connected to a deadzone nonlinearity based on experimental...
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