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This paper describes a new scheme for generating paths that are optimized for faster execution while keeping a certain amount of clearance away from obstacles. An optimized path is first extracted from multiple query PRM using a Lazy A* algorithm with a weighted Linfin norm, this latter is post-processed to correct its clearance to over a desired threshold in regions where it is geometrically possible...
Peer-to-Peer (P2P) IPTV applications have increasingly been considered as a potential approach to online broadcasting. These overcome fundamental client-server issues and introduce new, self-management features that help improving performance. Recently, many applications such as PPlive, PPStream, Sopcast, and Joost have been deployed to deliver live and video on demand streaming via P2P. However,...
Topology Control (TC) is one of the most important techniques used in wireless ad hoc and sensor networks to reduce energy consumption and radio interference, The goal of this technique is to control the topology of the graph representing the communication links between network nodes with the purpose of maintaining some global graph property (e.g., connectivity), while reducing energy consumption...
This paper presents an accurate localization strategy for vehicles in urban environments by using the communication between vehicles and the vision systems when GPS data is unavailable or has a poor quality of signal due to multi-tracks or bad satellite visibility. The new generation of the advanced driver assistance systems (ADAS systems) based on cooperation between vehicles can offer serious perspectives...
In this paper, the development of a controller for autonomous lateral alignment of fixed-wing Unmanned Aerial Vehicles (UAVs) with runway centerline in landing phase is presented. Fuzzy Logic Control (FLC) is used in order to enable the vehicle to mimic the decision making procedure that a pilot follow in the same situation. Also, for longitudinal motion controller design for the UAV to follow a pre-defined...
In many applications, localization systems are important to enable unmanned vehicles (UV) operate autonomously. An example of such applications is the exploration of unknown terrains, such as the zone of an earthquake or a similar disaster. In any such scenarios errors in the UV's sensors or systems used for localization may be present. Due to the harsh environment, errors can not be avoided. Thus,...
Because imitation has shown to be able to drastically cut down the exploration space it has been embraced largely by the robotics community to speed up autonomous learning. This has been done mostly in fixed demonstrator-imitator relationships, where a predefined demonstrator is performing the same action over and over again until the robot has learned it sufficiently. In practical multi-robot scenarios,...
In this research, an adaptive control system is designed for a safe touchdown of an unmanned helicopter during its landing phase on a 6DOF moving platform. In this paper the landing phase is divided into the approach and touchdown stages. In the first stage, the helicopter tries to attenuate the initial position and direction errors and in the next stage, the platform's attitude is tracked for a safe...
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