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We consider a single Dubins-like mobile robot traveling with a constant longitudinal speed in a planar region supporting an unknown field distribution. A single sensor provides the distribution value at the current vehicle location. We present a new sliding mode control method for tracking environmental level sets: the controller drives the vehicle to the set where the distribution assumes a pre-specified...
This paper is devoted to design and implement an intelligent scaled car-like mobile robot that possesses the capability of autonomous driving in an extra-road environment and fully autonomous parking on standard parking lots. The final goal is to design a robotized system that is able to process in real-time large amounts of sensor based data, to choose a collision free drivable trajectory thru detected...
This paper shows the capability of our environmental testbed to validate novel cooperative control algorithms that rely on measurements from the environment. Through the design of our mounting plates, the testbed can accommodate multiple environmental sensors as well as different configurations of robot accessories. Also, our environmental sensor suite provides the ability to integrate a variety of...
Recently there has been increasing research on the development of autonomous flying vehicles.Whereas most of the proposed approaches are suitable for outdoor operation, only a few techniques have been designed for indoor environments. In this paper we present a general system consisting of sensors and algorithms which enables a small sized flying vehicle to operate indoors. This is done by adapting...
This paper present the theoretical development of a complete navigation problem of a non-holonomic mobile robot by using sonar sensors. To solve this problem, a new method to compute a fuzzy perception of the environment is presented, dealing with the uncertainties and imprecision from the sensory system and taking into account nonholonomic constraints of the robot. Fuzzy perception, fuzzy controller...
During the last decade, mining companies and mobile equipment manufacturers have pursued improved efficiency, productivity, and safety in underground mining operations by automating some of the functions of underground vehicles. The work presented in this paper is the result of an effort to develop new flexible infrastructureless guidance system for autonomous tramming of center-articulated underground...
This paper presents an autonomous off-road robot designed by converging highly reliable integrative technologies. The mechanical, electrical, and computing platforms of the robot are highly stable and easy to configure and can be used as a general robotics prototyping infrastructure for unmanned ground vehicle. Part of the design is an interactive graphical simulation interface that proved to correlate...
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