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Railway systems may be interrupted by unforeseen events that require quick replanning to a feasible new schedule. This paper deals with the train rescheduling problem on double-track lines. The rescheduling problem is regarded as a conflict detection and resolution procedure. Timed Colored Petri nets are adopted to model the railway system: places represent rail resources, and tokens represent trains...
This paper addresses bilateral teleoperation of a car-like rover with communication delay. The proposed teleoperation scheme enables change of linear velocity and steering angle of the rover by pushing and pulling a haptic joystick. An environmental force determined according to relative distances and speeds between the rover and obstacles is rendered to the human operator. The human operator perceives...
This paper addresses the bilateral teleoperation of a car-like planetary rover under communication delay. The teleoperation platform is built up between the rover and a haptic device, which provides the human operator a force-feedback mechanism describing the environmental conditions, based on the relative distances and speeds between the rover and the obstacles. Therefore, obstacle avoidance can...
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