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In this paper, a computationally effective trajectory generation algorithm of omnidirectional mobile robots is proposed. The algorithm plans a reference path based on Bezier curves, which meet obstacle avoidance criteria. Then the algorithm solves the problem of motion planning for the robot to track the path in a short travel time while satisfying dynamic constraints and robustness to noise. Accelerations...
Current understanding of the behavior of marine mammals (pinnipeds) is quite limited by the observation technology used. Surface tracking using geolocation or Argos satellite tags have shown that these mammals range much farther than previously thought. Relatively simple time/depth recorders (TDRs) have shown that they dive to depths of over 1000 meters for over one hour. In order to further the understanding...
This paper presents a preliminary framework for generating spatially deconflicted paths for multiple UAVs using Bezier curves. The critical issue addressed is that of guaranteeing that all the paths lie inside a pre-defined airspace volume. Its is shown that Bezier curves reperesent a natural tool for meeting this requirement. The paper reviews the essential properties of the Bezier curves that are...
Autonomous Vehicle applications (Unmanned Ground Vehicles, Micro-Air Vehicles, UAVpsilas, and Marine Surface Vehicles) all require accurate position and attitude to be effective. Commercial units range in both cost and accuracy, as well as power, size, and weight. With the advent of low-cost blended GPS/INS solutions, several new options are available to accomplish the positioning task. In this work,...
Multi-vehicle swarms offer the potential for increased performance and robustness in several key robotic and autonomous applications. Emergent swarm behavior demonstrated in biological systems show performance that far outstrips the abilities of the individual members. This paper discusses a lightweight formation control methodology using conservative potential functions to ensure group cohesion,...
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