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The ultimate goal for many of the scientists and engineers who designed and built the autonomous vehicles is to dramatically increase the level of safety in automotive traffic.The race aspect of the Challenge added some spice to what turned out to be a rigorous test of the current state of the art in autonomous ground robotics.
In this paper we consider variations on the traveling salesman problem for the Reeds-Shepp car and differential drive robot. We consider the problem of finding the shortest path compatible with the dynamics of such models through a set of points. We present algorithms that asymptotically perform within a deterministic constant factor of the optimum, for any distribution of points. In addition, we...
In this paper we consider a class of analysis problems for control systems, aimed at safety falsification, i.e., checking whether a controlled trajectory exists that violates a given safety property. We introduce a notion of resolution completeness for safety falsification, and present a resolution-complete algorithm applicable to continuous-time LTI systems. The algorithm is based on deterministic...
In this paper we propose some novel path planning strategies for a double integrator with bounded velocity and bounded control inputs. First, we study the following version of the Traveling Salesperson Problem (TSP): given a set of points in Ropfd, find the fastest tour over the point set for a double integrator. We first give asymptotic bounds on the time taken for to complete such a tour in the...
This paper describes the design of an economical cooperative control testbed using 1/64 size micro-car vehicles. The vehicles have similar motion constraints to those found in common kinematic models for UAVs. We demonstrate the practical use of this testbed for algorithm validation by implementing a recently proposed UAV-routing algorithm [J. J. Enright et al Proc. AIAA Conf. Guidance, Nav. and Control,...
In this paper, we consider a decentralized cooperative control policy proposed recently for steering multiple nonholonomic vehicles between assigned start and goal configurations while avoiding collisions. The policy is known to ensure safety (i.e., collision avoidance) for an arbitrarily large number of vehicles, if initial configurations satisfy certain conditions. The method is highly scalable,...
The roller racer, an undulatory locomotion system, is a toy which can be propelled forward by sitting on it and only oscillating the steering handle. A nonholonomic dynamic model and controllability analysis of the roller racer was first published by Krishnaprasad and Tsakiris in 1998. The model is derived from the usual assumption that all the wheels obey sticking (non-slipping) constraints, i.e...
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