The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
This paper presents an approach of human-vehicle cooperative navigation system as an implementation of Advanced Driving Assistance Systems (ADAS). The driver-in-the-loop system contains commands by a human driver, which are verified and corrected by the interactive navigation algorithm based on Image-based Dynamic Window Approach (IDWA). Several autonomous driving components are involved including...
The Space Exploration Guided Heuristic Search (SEHS) method solves the motion planning problem, especially for car-like robots, in two steps: a circle-based space exploration in the workspace followed by a circle-guided heuristic search in the configuration space. This paper extends this approach for kinodynamic planning in dynamic environments by performing the exploration in both space and time...
This paper proposes a Rapidly exploring Random Trees planning strategy (Poli-RRT*) that computes optimal trajectories in presence of vehicle constraints (e.g., differential and actuation constraints) without approximating the nonlinear dynamics, but relying on exact linearisation. In this way, the optimal control problem that is introduced to determine the trajectories extending the tree can be expressed...
This paper proposes a method for controlling a team of quadrotor micro aerial vehicles to perform agile maneuvers while holding a fixed relative formation, as well as transitioning between a sequence of formations. The objective is to coordinate the quadrotors to fly in intricate interlaced patterns, similarly to an air show demonstration team. The paper proposes a new abstraction, called a Virtual...
In this paper, we present an algorithm to solve the Multi-Robot Persistent Coverage Problem (MRPCP). Here, we seek to compute a schedule that will allow a fleet of agents to visit all targets of a given set while maximizing the frequency of visitation and maintaining a sufficient fuel capacity by refueling at depots. We also present a heuristic method to allow us to compute bounded suboptimal results...
A computationally effective trajectory generation algorithm of omnidirectional mobile robots is proposed. The algorithm plans a reference path based on Bézier curves for obstacle avoidance. Then the algorithm solves the problem of motion planning for the robot to track the path in a short travel time while satisfying dynamic constraints and robustness to noise. The numerical simulation demonstrates...
This paper presents a new approach for kinodynamic online motion planning for Automated Guided Vehicles (AGVs) in industrial environments. AGVs normally transport large and heavy transport units such as Euro-pallets or mesh pallets. Nowadays just-in-time inventory management and lean production requires the transport of small transportation units. Thus a flexible material flow is needed that can not...
The blocking job shop(BJS) problem is an extension of job shop problem with no buffer constraints, means after completed on the current machine, the job remains on it until the next machine becomes available. This paper addresses an extension of BJS problem, which takes into account transferring job between different machines by limited number of automated guided vehicles (AGV), called BJS-AGV problem...
This paper presents a unified framework for Behavior Trees (BTs), a plan representation and execution tool. The available literature lacks the consistency and mathematical rigor required for robotic and control applications. Therefore, we approach this problem in two steps: first, reviewing the most popular BT literature exposing the aforementioned issues; second, describing our unified BT framework...
In this paper, we propose a logic-based Benders decomposition (LBBD), as well as an LBBD/gossip method to solve the heterogeneous multi-vehicle routing problem (HMVRP). HMVRP is a newly formalized extension of the NP-hard multi-traveling salesman problem (mTSP). First, a hybrid algorithm based on LBBD is formulated that decomposes the HMVRP into an assignment problem and a cluster of sequencing problems...
This paper presents a global path planning method for omnidirectional vehicles. The method plans a smooth and optimal path in polygonal obstacle environment, determining the velocity and trajectory by dynamic constrains of omnidirectional vehicles. The results of simulation have demonstrated the improvement of trajectory generation in terms of motion time and path length compared to potential field...
With advances in UAS technologies the quadrotor was given a special interest for its manoeuvrability and payload capacity. These assets are amplified when more of them are deployed simultaneously in order to improve the situational awareness over areas of interest. As the number of agents operating in the same environment grows, a common intelligence is needed to optimize their cooperation and ensure...
An improved self-organizing map-based approach is proposed for multiple autonomous underwater vehicle (multi-AUV) system to complete the allocation of targets and path planning in the paper. Each target is to be visited by one and only one AUV, and a shortest path between a starting point and the destination for each AUV in the presence of the variable current environment is to be found. Firstly,...
Vehicles that cross lanes of traffic encounter the problem of navigating around dynamic obstacles under actuation constraints. This paper presents an optimal, exact, polynomial-time planner for optimal bounded-acceleration trajectories along a fixed, given path with dynamic obstacles. The planner constructs reachable sets in the path-velocity-time (PVT) space by propagating reachable velocity sets...
During simultaneous localization and mapping, geometrical constraints are established between map features. These constraints, introduced through measurements and motion prediction, produce a bending effect in the event of closing a large loop. In this paper we present a discussion of the bending problem for trajectory based representations. Furthermore, we propose a generic approach to reduce the...
In this paper, a computationally effective trajectory generation algorithm of omnidirectional mobile robots is proposed. The algorithm plans a reference path based on Bezier curves, which meet obstacle avoidance criteria. Then the algorithm solves the problem of motion planning for the robot to track the path in a short travel time while satisfying dynamic constraints and robustness to noise. Accelerations...
Considering path planning for multiobjects in complex environment, the construction of complete graph which reflects the relative distance between objects in real world has great influence on calculating the sequence of objects and the optimal path throughout the optimization and path planning algorithm. This paper describes an approach that integrates the representations of uniform grids and Voronoi...
A general technique to build a dynamic and distributed intrusion detector for a class of multi-agent systems is proposed in this paper, by which misbehavior in the motion of one or more agents can be discovered. Previous work from the authors has focused on how to distinguish the behavior of a misbehaving agent in a completely distributed way, by developing a solution where agents act as local monitors...
In this paper, we study the dynamic traveling repairman problem (DTRP) for dynamic systems. In the DTRP, customers are arising dynamically and randomly in a bounded region R, and when customers arrive, they wait for the repairperson to visit their location and offer a ??service??-that will take a certain random amount of time s-. In our study, the repairperson is modeled as a dynamic system whose...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.