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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...
Legged autonomous vehicles move by executing patterns of leg-joint angles known as gaits. Synthesizing gaits by hand is a complex and time-consuming task which becomes even more challenging when the vehicle operates underwater. When operating underwater any motion of the limbs applies forces to the vehicle. Underwater gaits must therefore be constructed to mitigate these unwanted forces while meeting...
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 paper we examine the problem of localisation and mapping of an unknown environment using data from a laser range finder. In order to support our method we detect landmarks in the environment using the same laser finder. For the localisation and mapping process to take place we assume that the mobile robot will follow a path until a landmark is observed by the laser scanner. Our approach alleviates...
Swarm robotics is a relatively new technology that is being explored for its potential use in a variety of different applications and environments. Previous emerging technologies have often overlooked security until later developmental stages, when it has had to be undesirably (and sometimes expensively) retrofitted. We identify a number of security challenges for swarm robotics and argue that now...
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