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Current Unmanned Vehicle (UV) navigation systems are capable of autonomous navigation among disperse obstacles. However, these systems may fail to guide vehicles through highly confined environments because they do not explicitly consider the geometry of the vehicle in the navigation task. This paper presents a methodology that enables the navigation of Unmanned Vehicles (UVs) in such 3D environments...
This paper presents a new, computationally inexpensive, terrain roughness assessment technique. The technique, targeted for high speed unmanned ground vehicles (UGVs), considers no previous knowledge about the terrain but a priori knowledge about the vehicle's characteristics such as damping ratio, natural frequency and wheel configuration. The approach aims to allow fast, smooth and safe transition...
This paper presents a Modular Architecture for Robotic Control (MARC) for unconventional Unmanned Vehicle Systems (UVS) with search and rescue applications. The MARC architecture is able to produce complex UVS behaviors with the interaction of multiple independent modular controllers, which are extremely difficult or impossible to execute via traditional control methodologies. This paper presents...
This paper presents a modular architecture for robotic control (MARC) for unconventional unmanned aerial vehicles (UAV). MARC was developed for a double-ducted vertical take-off and landing (VTOL) vehicle, capable of maneuvering within densely obstructed environments. The focus of this paper is to present the characteristics of the MARC architecture for the use of a twin-duct VTOL as an optimal platform...
In this study a reactive navigation controller using fuzzy logic has been designed. The reactive controller deals with the uncertamty and ambiguity of the information the system (mobile robot) receives. The technique has been used on MOBIRO, an experimental mobile robot holding a set of five ultrasonic proximity sensors to extract the knowledge from its surroundings. The developed technique generates...
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