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We study the geometry of a 2-dimensional cyclic pursuit problem where n identical mobile agents modeled as unicycles are driven by a distributed control law. The agent i pursuits the agent i + 1 modulo n with the same constant forward speed. We propose, for the first time, a stable relative (1 : n)-periodic trajectory (RPT) for the polygonal chain formed by the system with a sufficiently large n....
With the development of GPS and the popularity of smart phones and wearable devices, users can easily log their daily trajectories. Prior works have elaborated on mining trajectory patterns from raw trajectories. Trajectory patterns consist of hot regions and the sequential relationships among them, where hot regions refer the spatial regions with a higher density of data points. Note that some hot...
With the development of GPS and the popularity of smart phones and wearable devices, users can easily log their daily trajectories. Prior works have elaborated on mining trajectory patterns from raw trajectories. However, trajectory patterns do not have explicit time information or semantic information. To enrich trajectory patterns, we propose STS-TPs (standing for Spatial-Temporal Semantic Trajectory...
The advances in location-acquisition and smart phone technologies have led to a myriad of location-based social media. Therefore, analyzing the increasing amount of spatio-temporal data emerges as an important topic. Most studies on geographic data mining focus on exploring static mobility patterns. As the amount of incoming data streams increases, revealing the temporal aspect of user mobility patterns...
Mixed motion planning algorithm based on randomized sampling-based motion planning for multiple autonomous on-orbit servicing spacecrafts with impulse thrust in a complicated space environment and explicit equations are studied. The planner satisfies the requirement of autonomous spacecraft maneuvering with complex constraints. The results show that this motion planner can obtain the feasible accurate...
The objective of this paper is to propose an approach for generating on-line walking patterns for a biped robot to navigate towards destination and reactively avoid obstacles. Kinect-based sensor system detects obstacles with velocity and dimension estimated for obstacle modeling. With identified obstacles, repulsion vectors of potential field given by obstacles modify walking path of a biped robot...
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...
This paper proposes an approach to achieve perturbation counteraction and recovery during walking process for biped robots. The priority under external pushing force is to maintain walking stability and avoid falling down. The strategy we adopt here is to employ rotary momentum generated by reaction mass to achieve ZMP manipulation. The torque distribution among the reaction mass is determined in...
Because of the complementary nature of inertial measurement unit based pedestrian dead reckoning (PDR) and Wi-Fi positioning, the combination of both systems yields a synergetic effect resulting in higher navigation performance. Barometric sensors can provide height information for 2D/3D indoor navigation applications in multi-floor environments. In this paper, we explore the multi-sensor assisted...
In this paper, we adopt the two quasi-sliding mode control for a class of multivariable discrete time bilinear systems. By applying the proposed control strategies, the system states would move into a boundary layer of the sliding surface and remain in the boundary layer in finite time. Thus, the stability of the overall system could be guaranteed. Finally, the computer simulation is applied to illustrate...
The main propose of this paper is to make comparison between the ZMP-based Gravity-Compensated Inverted Pendulum Model(GCIPM) joint trajectory generator and the unequal height of hip joint trajectory generator proposed in our previous work based on energy efficiency function. Because the battery equipped on biped robot is very height and cannot maintain the power supply status for a very long period,...
In this paper, the structure of a mammal-Like hexapod walking robot is presented and the joint trajectory planning method of tripod gait is analyzed. The motions with 12 degrees of freedom (DOF) for the robot are reaLized by 12 rudder servos. The control pulse width send to each servomotor determines the motor position. The control system is composed of two layers with different function. Coordination-layer...
In this paper, a potential-based genetic algorithm is proposed for formation control of robot swarm. The proposed algorithm consists of a global path planner and a motion planner. The global path planning algorithm searches a path, which the center of robot swarm should follow, within a Voronoi diagram of the free space. The motion planning is a genetic algorithm based on artificial potential models...
Using multiple independent reentry vehicle (MIRV), a single launched missile can provide greater target damage for a given missile payload and reduce the effectiveness of an anti-ballistic missile system that relies on intercepting individual warheads. When MIRV strike one target, arrival time interval must be controlled to make sure that MIRV can't destroy each other. This problem is equal to determining...
Randomization-based motion planning algorithm is represented to solve the servicing spacecraft maneuvering in close proximity of servicing target on elliptical orbit. This algorithm can satisfy the requirement of real-time planning, and consider a variety of constraints. State transition matrix is applied to computation of relative motion on elliptical orbit without numerical integration for reduction...
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