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The proposed concept shows a method of solving emerging path planning conflict situations within a heterogeneous multi-robot system. Emerging conflict situations are solved by a decentralized system-wide communication, which includes an active exchange of relevant path planning information among all participants. Detection and prevention of collisions is based on applying geometrical operations on...
Path planning is one of the critical issues in mobile robot applications. Traditional methods for path planning in unknown dynamic environment generally plan one step rather than multiple controlling steps. This paper proposes an approach with multiple controlling steps which integrates receding horizon control (RHC) for mobile robot path planning in which the obstacle avoidance problem is converted...
A key requirement for any mobile robot is achieving safe motions. This is especially difficult in a large dynamic environment where hostile objects must be avoided with incomplete information. This paper presents a novel hierarchical architecture that Team MAGICian developed, which integrates multi-vehicle tactical planning, path planning, collision avoidance, trajectory generation and dynamic vehicle...
This paper proposes a gradient tracking algorithm based on artificial harmonic potential fields, to support the platooning of a team of nonholonomic mobile robots. The main motivation is the need of dynamically changing the goal-point associated with each mobile robot, in order to guarantee the platoon string stability. Mobile obstacles are taken into account with an approach based on the so-called...
In this paper we address the trajectory tracking problem for groups of mobile robots. We consider trajectories described by completely arbitrary shaped closed curves. The proposed control strategy is a completely decentralized algorithm, and does not require any global synchronization. The desired behavior is obtained by means of some properly designed artificial potential functions.
This paper describes a position-based visual servo control scheme designed for an underwater vehicle. The methodology proposes a path planning technique, which guarantees that a flat target is kept in the camera optical field, while the vehicle avoids collision with the surface the target lays on. The vehicle pose (position and orientation) with respect to the target is obtained using a laser vision...
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