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Intelligent Transport Systems (ITS) promises a safer and more enriching driving experience in the near future. To design an optimum wireless link for ITS, the channel behavior should be studied carefully. Vehicle-to-Vehicle (V2V) channels are very dynamic and dependent on many factors. Extensive measurement campaigns are required to learn more about these wireless channels. Therefore, wireless channel...
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...
Traditional transit is often unable to effectively service areas of low ridership and low population density. To alleviate this problem, a method of combining traditional transit with demand-responsive transportation is proposed. This system, known as the network-inspired transportation system (NITS), uses demand-responsive transportation to handle the first and last miles of each passenger's trip...
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...
In this paper we propose a novel physics based motion planning and trajectory generation framework for vehicle operating on uneven terrains. The proposed framework provides for a fully 3D analysis of the dynamic constraints of the vehicle on uneven terrain and hence comes as a better approach than the existing motion planning framework which makes simplifying assumptions for the terrain conditions...
In this paper, a configuration of a single-phase bidirectional AC-DC converter and bidirectional DC-DC converter is proposed to transfer electrical power from the grid to an electrical vehicle (EV) and from an EV to the grid while keeping improved power factor of the grid. In first stage, a 230 V 50 Hz AC supply is converted in to 380V dc using a single-phase bidirectional AC-DC converter and in the...
In this paper a novel suspension mechanism for rough terrain mobility is proposed. The proposed mechanism is simpler than the existing suspension mechanism in the sense that the number of links and joints has been significantly reduced without compromising the climbing ability of the rover. We explore the use of compliant elements like springs for passively controlling the degree of freedom of the...
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