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This paper presents a definition of convexity useful for describing local optimality in configuration spaces, proves that finding convex regions is relatively easy, and presents an algorithm for approximating the free configuration space using a set of such convex regions. The paper examines simple but interesting systems: serial planar arms with revolute joints, and a Reeds-Shepp car. The paper experimentally...
Human-demonstrated motion transferred to a robotic platform often needs to be adapted to the current state of the environment or to modified task requirements. Adaptation, i. e. learning of a modified behavior, needs to be fast to enable quick utilization of the robot either in industry or in future household-assistant tasks. In this paper we show how to accelerate trajectory adaptation based on learning...
The overall performance of sampling-based motion planning algorithms strongly depends on the use of suitable sampling and connection strategies, as well as on the accuracy of the distance metric considered to select neighbor states. Defining appropriate strategies and metrics is particularly hard when considering robot dynamics, which is required to treat constrained motion planning problems for quadrotors...
This paper reports on the inclusion of a probabilistic channel model within a cooperative localization planning framework. Underwater cooperative localization reduces positioning errors by sharing sensor data across a team of underwater vehicles. Relative range constraints between vehicles are measured by the one-way-travel-time of successfully received acoustic communication broadcasts. The quality...
Navigating non-holonomic mobile robots in dynamic environments is challenging because it requires computing at each instant, the space of collision free velocities, characterized by a set of highly non-linear and non-convex inequalities. Moreover, uncertainty in obstacle trajectories further increases the complexity of the problem, as it now becomes imperative to relate the space of collision free...
Deformation is an important research problem in computer graphics. In the paper, a new concept of flexible coordinate space is proposed to successive deformation process between any two mutually elastically deformable planar polygons. Then a new morphing technique based on elastic coordinate space is proposed. By linear interpolation of "coordinate basis points", then we can reverse out...
Micro Aerial Vehicles (MAVs) are becoming ubiquitous, but most experiments and demonstrations have been limited to slow flight except in open environments or in laboratories with motion capture systems. In this paper, we develop representations and algorithms for aggressive flight in cluttered environments. We incorporate the specific dynamics of the system and generate safe, feasible trajectories...
Any system that realizes the function of autonomous driving has to perform the task of constructing a continuous trajectory that can be followed by the autonomous vehicle. Many planning approaches may benefit from an efficient algorithm that is able to construct a continuous trajectory which satisfies the initial and target poses of the vehicle as well as the vehicle actuator states at the boundaries...
Learning models of behaviours has many applications in robotics spanning both control, e.g. learning from demonstration and perception, e.g. monitoring and surveillance. Inverse reinforcement learning encodes behaviours as a reward function learned from a set of demonstrations. This paper addresses the problem of learning from unlabelled datasets containing an unknown number of behaviours in continuous...
This work addresses the task-space design problem of a linear-quadratic optimal tracking controller for robotic manipulators using the unit dual quaternion formalism. The efficiency, compactness, and lack of singularity of the representation render the unit dual quaternion a suitable framework for simultaneously describing the attitude and the position of the end-effector. Motivated by the advantages...
This paper presents a trajectory tracking control strategy based on the subspace stabilization approach to accurately manipulate an under-actuated flying robot from a known initial state to the desired terminal state. To facilitate the development of this tracking strategy, the dynamical model of the quadrotor is firstly proposed. Subsequently, an optimal trajectory generation algorithm is adopted...
Assistive robotic manipulators have the potential to improve the lives of people with motor impairments. They can enable individuals to perform activities such as pick-and-place tasks, opening doors, pushing buttons, and can even provide assistance in personal hygiene and feeding. However, robotic arms often have more degrees of freedom (DoF) than the dimensionality of their control interface, making...
In this paper we present a right inversion scheme based on the essential concept of reachability. This scheme inverts a Hurwitz stable system one step ahead. We illustrate our procedure with the simulation of an ideal inverted pendulum.
The feedback stabilization of the Burgers system to a nonstationary solution using a finite number of internal piecewise constant controls is considered. Estimates for the number of needed controls are derived. In the particular case of no constraint on the support of the control a better estimate is derived, so the possibility of getting an analogous estimate for the general case is discussed. That...
In this paper, the problem of dynamic decision making for vehicle heading control to intercept moving targets is investigated. It is assumed that the targets arrive in the mission space sequentially. More precisely, there exist infinite number of targets that arrive the mission space one by one. The arrival times and positions of the targets are modeled using stochastic models. Furthermore, targets...
In executing state-to-state maneuvers, end states which are stabilizable states provide for robust maneuver control. In the normal circumstance that a maneuver only takes the system to a neighborhood of a stabilizable state, feedback control can be used to regulate to a neighborhood of the desired end state. In contrast, if the end state is not a stabilizable state, large try-again maneuvers which...
This paper presents a robust nonlinear control scheme for task-space trajectory control for an autonomous underwater vehicle- manipulator system (AUVMS) based on an improved proportional integral derivative (PID) control scheme used for deep-sea intervention tasks. A planar underwater vehicle manipulator system (consists of an underwater vehicle and two link rotary (2R) serial planar manipulator)...
This paper presents an Adaptive Variable Structure Control (AVSC) methodology to autonomously control an UAV platform known as the Vectored Thrust Aerial Vehicle (VTAV). The proposed control algorithm eliminates chattering present in Sliding Mode Control (SMC), and improves the settling time of the VTAV system by driving the error states in a parabolic trajectory towards the origin of error space...
This article investigates a new robust nonlinear proportional integral derivative (PID) position tracking control applied on a serial underwater spatial manipulator with three degrees of freedom. The proposed controller integrates the known approximated inverse dynamic model output as a model-base portion of the controller. It uses a feed forward term to enhance the control activity with indulgence...
This paper introduces an experimental rescue robot, HUBO T-100 for a development of a Korean rescue robot with a large load carrying capacity and presents its optimal motion control methods. The mission of the rescue robot is to move and lift patients or soldiers with impaired mobility for the rescue and assistance in the battlefields, hospitals, hazardous and disastrous environments. Another mission...
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