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In the last decades, tremendous progress has been made in the field of autonomous indoor navigation for mobile robots. However, these approaches assume the structural part of the environment to be completely static. In practice, movable parts of scenes, e.g. doors, frequently violate this assumption which leads to poor performance. Also, mobile manipulation capabilities can only be utilized, if the...
In path planning, potential fields introduce force constraints to ensure curvature continuity of trajectories and thus to facilitate path-tracking design. In previous works, a path planning design by fractional (or generalized) repulsive potential has been developed to avoid fixed obstacles: danger level of each obstacle was characterized by the fractional order of differentiation, and a fractional...
In research of biped walking robot, energy-efficiency is an important issue. Full-actuated type robots using ZMP based control have high environmental adjustability and high robustness, but they consume much energy. On the other hand, passive dynamic walking type robots have high energy-efficiency, but they don't have high-environmental adjustability and robustness. Then, we have proposed an optimal...
In this paper, we consider a motion planning problem for a class of constrained nonlinear systems. In each simplex of a triangulation of the set of states, the nonlinear dynamics is conservatively approximated by an affine system subject to disturbances. This results in a hybrid abstraction, called hybridization, of the nonlinear control system. Except for the disturbance, this hybridization can be...
We present a distributed connectivity service that allows agents in a mobile ad-hoc network to move while preserving connectivity. This allows unmodified motion planning algorithms to control the trajectories of each robot independently, these trajectories are fed to the service which modifies them as little as possible to ensuring global connectivity. Since we require only short term targets the...
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