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Closest Point of Approach (CPA) calculations are fundamental calculations for determining the utility and safety of a candidate maneuver of a marine vessel with respect to another vessel, i.e., contact. In certain kinds of path planning, a set of CPA calculations is made for thousands of candidate maneuvers, perhaps several times per second. Furthermore, with multiple contacts, multiple sets need...
Obstacle detection and tracking is a fundamental task for several Advanced Driver Assistance Systems (ADAS) and self-driving cars. Several approaches have been presented in the literature in the last years and many of them are based on visual sensors. In this paper we propose an approach that uses only stereo cameras to detect and track obstacles and compute visual odometry to get the vehicle's ego-velocity...
This work presents a new concept of environment mapping aiming to identify dynamic objects in the scene, and then estimate their direction and future position. The motion analysis is performed directly in the traditional 2D costmap through three different map frames. Costmap is a traditional mapping technique that uses an occupation grid is used, where each cell has a degree of uncertainty about whether...
Aiming at the security problem of cooperative robots, this paper presents a low cost collision detection algorithm without torque sensors. In this method, the collision can be detected with the sampling torque and the dynamic model. First, the relationship between the output torque and the motion state of the rotating joint of the robot is established according to the Newton Euler method. For the...
In this paper, based on quaternion and Euler angles, an attitude control algorithm is proposed for pitching and rolling of quadrotor aircraft. In addition, the target tracking algorithm of quadrotor aircraft is designed by using the collected video information and color feature recognition. The system is based on the homemade quadrotor aircraft, using gyroscope, accelerometer as the original measurement...
This paper presents a formation tracking strategy for a set of single or double integrator agents with an arbitrary undirected communication topology. The approach uses the leader-followers scheme and a distance-based potential function. The approach is extended to the case of nonholonomic omnidirectional aerial and terrestrial robots. To show the performance of the control strategy, a real-time experiment...
This paper presents the biological control for a radially free distributed hexapod robot. The CPG(central pattern generators) network consists of six CPG units based on Hopf neural oscillator that used to generate rhythmic oscillatory signals for the end trajectories of legs. The ring-type network topology of CPG network that consists of six CPG units is established. By computing the inverse kinematics,...
The proposed hierarchical sliding mode control (HSMC) for the car-like automated guided vehicle (CLAGV) includes two parts: one is virtual control input (VCI), the other is sliding mode tracking control (SMTC) [1]. Moreover, a single software/hardware based platform develops the software for the control, image processing and trajectory planning algorithms, and the hardware for the control signal (e...
We investigate the effect of dominant and submissive movement strategies and a movement cue in a human-robot cooperation scenario on perceived predictability and trust. Four different movement strategies in proximal cooperation between a robot manipulator and a human participant were tested in an experiment in which participants had to arrange small objects in a shared workspace working on the same...
Small/micro Unmanned Aerial Systems (UAVs) require the ability to operate with constraints of a diverse, automated airspace where obstacle telemetry is denied. This paper proposes a novel Sense, Detect and Avoid (SDA) algorithm with inherit resilience to sensor uncertainty. This is achieved through the interval geometric formulation of the avoidance problem, which by the use of interval analysis,...
This paper incorporates sampling-based global path planning with model predictive image-based visual servoing (IBVS) for quadrotor unmanned aerial vehicles (UAVs) equipped with a fixed camera. The proposed method produces safe control inputs of quadrotor in obstacle environment by taking image feature kinematics into account. Firstly, we utilize a sampling-based algorithm for optimal path planning,...
This paper is about Human Robot Motion (HRM), i.e. the study of how a robot should move among humans. This problem has often been solved by considering persons as moving obstacles, predicting their future trajectories and avoiding these trajectories. In contrast with such an approach, recent works have showed benefits of robots that can move and avoid collisions in a manner similar to persons, what...
This work addresses a technique for robot motion planning and navigation in dynamic environments. First, a model to represent the future evolution of the moving obstacles in the environment is defined in a robocentric reference, which maps the obstacle motion on the control space, the velocity-time space, of the robot. Second, a planning technique working on that model for navigation and maneuvering...
In this paper we address the problem of online trajectory optimization and cooperative collision avoidance when multiple mobile service robots are operating in close proximity to each other. Using cooperative trajectory optimization to obtain smooth transitions in multi-agent path crossing scenarios applies to the demand for more flexibility and efficiency in industrial autonomous guided vehicle (AGV)...
The following paper deals with the topic of humanrobot- collaboration in industrial applications. In the first part different research results and developments out of the industry concerning human-robot-collaboration are summarized. Aspects like the influence of the trajectory, facial expressions and gestures on collaboration or the latest collaborative robots, safe HRC-suitable end-of-arm-tools and...
This paper deals with dynamic collision avoidance of multiple mobile robots by model predictive control (MPC). Each robot has the same control law based on an MPC problem which has constraints on avoidance of other robots. A numerical example shows that a robot can reach to a goal point from a start point while avoiding collision with another robot that follows its start and goal points.
Aircraft need to be separated from other aircraft by either a minimum vertical distance of 1000ft or by a minimum horizontal distance of 5NM to avoid mid-air collisions. Traffic Alert and Collision Avoidance System (TCAS) work well as a tactical safety backups to avoid collision, but cannot perform separation assurance. This paper presents the design aspects of system that would predict separation...
This paper presents a dynamic collision avoidance controller of a connected vehicle group using Model Predictive Control (MPC). The vehicles should follow a predefined reference trajectory while simultaneously avoiding collisions on this trajectory. MPC pursues the tracking of the reference trajectory in the objective function of the optimization problem. In order to avoid collisions, MPC defines...
Collision Avoidance is considered as the final layer of safety to prevent mid-air collisions when all other avoidance measures have failed. These methods are gaining importance, in particular in recent years. The ultimate goal is to replace the already obsolete TCAS system, which is not included in the NextGen programme. Additionally, the dynamic UAS market in civil, commercial and military sectors...
In this paper, we present a mid-level collision avoidance algorithm for autonomous surface vehicles (ASVs) based on model predictive control (MPC) using nonlinear programming. The algorithm enables avoidance of both static and moving obstacles, and following of a desired nominal trajectory if there is no danger of collision. We compare two alternative objective functions, where one is a quadratic...
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