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A new algorithm based on Evolutionary Strategies is proposed for finding a robot manipulation path. Next scenario is considered: Given a learned Manipulation Path in the space of configurations, a real-time optimal path is calculated when mobile robot base is in a different position and orientation near to the original localization. The optimization problem is formulated as the minimization of the...
A new optimal distributed linear averaging (ODLA) problem is presented in this paper. This problem is motivated from the distributed averaging problem which arises in the context of distributed algorithms in computer science and coordination of groups of autonomous agents in engineering. The aim of the ODLA problem is to compute the average of the initial values at nodes of a graph through an optimal...
The control and management of unmanned combat vehicles (UCVs) operating in an adversarial urban environment is a challenging task due, in part, to the imperfect and incomplete information available, the conflicting objectives of opposing teams, the uncertain stochastic dynamics, and the limitation in computational capability. In this paper, a decision policy built upon Markov decision processes is...
Vehicle following can be achieved by minimizing the relative information (Kullback-Leibler or K-L distance), between the estimated poses of leader and follower vehicles. To achieve successful vehicle following, a Bayesian formulation for the system has been derived, and two probabilistic distributions, one for each vehicle's pose, can be obtained. Based on the assumption that the two pose distributions...
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