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In this paper, an evaluation approach of recoverable performance for post-fault quadrotors is investigated. Both propeller faults and failures are considered, such as loss of partial propeller effectiveness and loss of one or more propellers. The main contribution is to propose a method to compute recoverable set for different faulty conditions using sum of squares (SOS). The recoverable set is an...
To generate local trajectory between initial states and target states for autonomous vehicles, a feasible trajectory generation algorithm based on quartic Bézier curve is proposed. The problem of trajectory generation is firstly seperated into generating continuous and bounded curvature profile to shape the trajectory and generating linear velocity profile to execute the trajectory. The curvature...
The technology of human-computer interaction (HCI) is developing rapidly in tandem with the advancement of information and biological technologies. Many new types input device are introduced into this field; some of them are aimed to benefit special groups of people like old or disabled persons. In the meantime, Electromyography (EMG) and Inertia Measure Unit (IMU) have been readily available and...
Relative coordination has predominant advantage in uncertain environment path planning problem because it denies much of redundant information of the dynamic environment while avoids the rotation transformation which is a big burden in the traditional methods. Based on relative coordination, this paper proposes a trimmed Ant Colony Optimization (ACO) algorithm for three dimensional trajectory generation,...
A linear programming (LP) based approach is proposed for the trajectory generation in three dimensional space in which a vehicle is requested to pursue a moving target and avoid static or dynamic obstacles simultaneously. The target pursuit and obstacle avoidance (TPOA) are modeled in relative velocity coordinates, respectively, with linear constraints, according to the LP framework. Two objective...
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