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The paper presents an autonomous parallel parking neuro-fuzzy controller for a car-like mobile robot. Three ultrasonic sensors are mounted in the front left corner of the car to obtain the parking environmental information and a compass sensor is mounted in the centre position of the car to measure the posture of the car. Through the proposed mechanism, one of the three ultrasonic sensors and the...
We study the multi-robot synchronization on a segment. The goal is for each robot to move along a subsegment of equal length in equal time interval with potential impacts. To achieve the synchronization, we propose a decentralized algorithm by designing impact law, which does not depend on the position of the robot, but on the time information. Specifically, ??the time interval between two consecutive...
In the project Autonomous City Explorer, an interactive robot is designed to find its way to a given destination in unknown urban environments by interacting with pedestrians. Considering applications in a human dominated environment, the robot can be sent to a destination by tracking a landmark selected by users and described by 2D image features. To achieve a natural landmark selection from the...
Nowadays, most of the commercial upper-limb externally powered prosthetic devices are controlled by electromyography (EMG) signal. It is detected from the remaining muscles of amputated arms to control the prostheses. However, there are some inherent limitations of EMG control, such as muscle cross talk. On the other hand, it has been demonstrated that the muscle thickness change collected by ultrasound...
We consider the problem of generating global feasible trajectories for nonholonomic mobile robots in the presence of moving obstacles. The global trajectory is composed of regional path segments, which are parametric polynomials incorporating collision avoidance criteria. Collision avoidance with moving obstacles is achieved by changing parameters of the regional trajectories, and the collision avoidance...
This paper describes our efforts in building an experimental platform to conduct research on cooperative driving in intelligent transportation systems (ITS). A miniature vehicle is developed based on the COTS-BOTS robot and an overhead vision system is used to localize the vehicles. The single lane tracking control algorithm is described first. To control multiple vehicles to drive through an intersection...
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