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We deal with self-adaptive systems where each local entity has autonomy in the way of strong coactivity with others entities to make the emergence of a coherent general state of the complete system. The paper focus on the architecture of a self adaptive system based on massive multi agent systems. The system allows the monitoring and on-line restructuring thanks to ontology. It is dedicated to a complex...
We present a new pruning method for compact precomputed search trees and evaluate the effectiveness and the efficiency of our precomputation planning with steering sets. Precomputed search trees are one method for reducing planning time; however, there is a time-memory trade off. Our precomputed search tree (PCS) is built with pruning based on a rule of constant memory, the maximum-size pruning method...
This paper presents a method for detecting people from images taken with a camera mounted on a robot. The purpose of the detection is avoiding people collision while robot is moving within an unknown environment. It combines two algorithms for this purpose. First, the appearance of people is learned using a set of Haar-like features and the Adaboost algorithm. This information is embedded by building...
In this paper, we describe the design of a deformable robot with a tensegrity structure that can crawl and we show the results of experiments showing the ability of these robots to crawl. We first describe a tensegrity structure, composed of struts and cables, and its characteristics. We next explain the principle of crawling by robot body deformation, followed by a classification of the methods by...
This paper introduces a novel mobile robot design concept aimed at exploration of subterranean spaces. The key innovation is the combination of highly maneuverable-body elements with wheel/leg elements (ldquowhegsrdquo). This combination offers performance not possible with conventional ldquomonolithicrdquo wheeled or tracked mobile robots, or with current robot snakes. The paper covers two design...
For the Carnegie Mellon team vying for the Google Lunar X Prize, failure to launch - and land is not an option. The Google Lunar X Prize is a challenge announced by Google and the X Prize Foundation in September 2007, will give US $20 million to the first privately funded team whose robot lands on the Moon, travels 500 meters, and beams back photos and video. It all has to happen by 2012.
In this paper, we build off results from geometric mechanics to gain fresh insight into the locomotion of underactuated systems. More specifically, we use the connection, which relates body velocity to internal shape changes, to create a set of vector fields on the shape space. Each of these fields corresponds to one component of the body velocity (forward, lateral, rotational), and together they...
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