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This paper focuses on solving the Unmanned Surface Vehicle autonomous dynamic collision avoidance problem. Firstly, a kinematic and dynamics model of three degree of freedom for USV is established, researches USV's treat method about the data of obstacles, and structures whole environment information to make USV avoid obstacles. Secondly, according to obstacles' position data, Elman predictive model...
This paper introduces an extension to a method for fast and close to optimal trajectory generation for articulated robots in the case where dynamic constraints and real-time capability are considered. We aim at solving reaching motion problems without pre-defined timing requirements, where the robot starts from its current state trying to reach the final desired state. Our approach combines the advantage...
Recently, there has been a growing interest in biomimetic underwater vehicles. Although a lot of research has been conducted in the area of dynamics and kinematics of robotic fish, most of the approaches solve the inverse problem by finding the required force the caudal fin should produce, in order for the robotic fish to follow a trajectory. Others use predefined undulatory body motions which usually...
The recent advances in Unmanned Aerial Vehicles (UAVs) technology permit to develop new usages for them. One of the current challenges is to operate UAVs as an autonomous swarm. In this domain we already proposed a new mobility model using Ant Colony Algorithms combined with chaotic dynamics (CACOC) to enhance the coverage of an area by a swarm of UAVs. In this paper we propose to consider this mobility...
This article addresses the problem of quadrotors following a path geometry under the action of a constant external disturbance and with partial state measurement. To solve these issues, under the assumption of time scale separation between the translational dynamics and the closed-loop rotational dynamics, we propose an integral output robust maneuvering controller in combination with a translational...
In this paper, we develop a zero-moment-point and friction force calculation framework for wheeled mobile robots on uneven terrain to evaluate roll-over and slippage tendency of the given trajectory. The proposed framework using dynamic constraints and passive decomposition has advantages of low computations and implementation cost. Simulation results using CarSim is provided to analyze the performance...
Motion diversity is an important factor in resembling motion with human-likeness. In this paper, we propose a method by which a robot acquires gesturing skills with motion diversity. We measured the bowing gesture with a 3D capturing camera and used dynamic movement primitives (DMPs) in order to capture the distribution of kernel parameters. The results showed that the height of kernel parameters...
Taking into account the physical features of the system as its invariants allows us to advance in solving the problem of the terminal controls structural synthesis. This is achieved through the Gibbs function use in the extended target functional formation. This determines the difference of the obtained result from the known ones. Application of the asynchronous variation method leads to the statement...
This paper proposes a method for maximizing the speed of the multilink manipulator gripper motion along a spatial trajectory with the current signal constraints and the input voltage of its servo drives factored in. We have studied various modes in which the synthetic system operates while processing the spatial end-of-arm motion trajectories of a varying curvature.
The presence of Type 2 singularities in parallel robots severely affects their performances, mainly because the platform motion control is partially lost. It also leads to a size reduction of the operational workspace. Moreover, the dynamic model of the parallel mechanism degenerates and locally, the robot becomes underactuated in the singularity. It has been proven that it is possible to cross Type...
Hand gestures are spatio-temporal patterns which can be characterized by collections of spatio-temporal features. However, in real world scenarios, hand gesture recognition suffers from huge challenges with variations of illumination, poses and occlusions. The Microsoft Kinect device provides an effective way to solve the above issues and extract discriminative features for hand gesture recognition...
In this work, multiple robots circulate around the boundary of a desired region in order to create a virtual fence. The aim of the this fence is to avoid internal or external agents crossing through the delimited area. In this paper, we propose a distributed technique that allows a team of robots to plan the deformation of the boundary shape in order to escort the safe region from one place to a goal...
Human dynamics are investigated for deployment of picocell in cellular network in this paper. Human dynamics may lead to variation of channel condition, e.g., moving fast or slow, driving in a mega city or in a countryside may change channel conditions. The data delivery throughput depends on user distribution, commuting trajectory, and Internet access regularity. Effectiveness of frequency reuse...
In this paper we propose a method for motion planning and feedback control of hybrid, dynamic, and non-prehensile manipulation tasks. We outline five subproblems to address this: determining a set of manipulation primitives, choosing a sequence of tasks, picking transition states, motion planning for each individual primitive, and stabilizing each mode using feedback control. We apply the framework...
This work explores the stabilization of desired dynamic motion tasks involving hard impacts at non-negligible speed for humanoid robots. To this end, a so-called reference spreading hybrid control law is designed showing promising results in simulation. The simulations are performed employing a dynamical model of an existing humanoid robot and impacts are assumed to be inelastic. The desired motion...
This paper presents a motion planning approach for cooperative transportation using aerial robots. We describe a framework based on Parametric Dynamic Movement Primitives (PDMPs) for coordinating multiple aerial robots and their manipulators quickly in an environment cluttered with obstacles. In order to emulate the optimal motion, we combine PDMPs and Rapidly Exploring Randomized Trees star (RRT∗)...
We present a mobile robot motion planning approach under kinodynamic constraints that exploits learned perception priors in the form of continuous Gaussian mixture fields. Our Gaussian mixture fields are statistical multi-modal motion models of discrete objects or continuous media in the environment that encode e.g. the dynamics of air or pedestrian flows. We approach this task using a recently proposed...
Motion planning under differential constraints is one of the canonical problems in robotics. State-of-the-art methods evolve around kinodynamic variants of popular sampling-based algorithms, such as Rapidly-exploring Random Trees (RRTs). However, there are still challenges remaining, for example, how to include complex dynamics while guaranteeing optimality. If the open-loop dynamics are unstable,...
This paper proposes an improvement of a motion planning approach and a modified model predictive control (MPC) for solving the navigation problem of a team of dynamical wheeled mobile robots in the presence of obstacles in a realistic environment. Planning is performed by a distributed receding horizon algorithm where constrained optimization problems are numerically solved for each prediction time-horizon...
Particularities of the application of the equations of motion in gravitational fields in nonlinear problems to problems, when equations or solutions contain nonsmooth functions, are discussed. Classical mechanics is engaged in the study of properties, approximation and prediction of motion for problems with regular functions. Solving nonlinear equations of dynamics uses additional transformations...
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