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Here we present a non-holonomic distance function for unicycle-type vehicles, and use this distance function to extend the optimal path planner RRT* to handle nonholonomic constraints. The critical feature of our proposed distance function is that it is also a control-Lyapunov function. We show that this allows us to construct feedback policies that stabilizes the system to a target pose, and to generate...
In this paper, we address the problem of optimal path planning to visit a set of regions by Dubins vehicle, which is also known as the Dubins Traveling Salesman Problem with Neighborhoods (DTSPN). This problem can be tackled by a transformation to other variants of the TSP or evolutionary algorithms. We address the DTSPN as a problem to find Dubins path to visit a given sequence of regions and propose...
Supervision and control of Autonomous underwater vehicles (AUVs) has traditionally been focused on an operator determining a priori the sequence of waypoints of a single vehicle for a mission. As AUVs become more ubiquitous as a scientific tool, we envision the need for controlling multiple vehicles which would impose less cognitive burden on the operator with a more abstract form of human-in-the-loop...
This paper is devoted to a centralized mission planner for a group of marine robots. Mission is considered consisting of straight line segments (usually called tacks). The planner takes segments spatial configuration into account and solves a problem similar to the Multiple Travelling Salesman Problem (MTSP) in order to assign a sequence of segments to each vehicle. The contribution of this paper...
There are several kinds of envisioned vehicular applications: video delivery, accidents detection, dissemination of traffic announcements, and so forth. Such applications demand minimal (and possibly distinct) Quality of Service guarantees that must couple the vehicular network. Since the vehicular networks will become reality soon, we demand strategies for planning and managing such networks. In...
With the development of automated logistics systems, flexible manufacture systems (FMS) and unmanned automated factories, the application of automated guided vehicle (AGV) gradually become more important to improve production efficiency and logistics automatism for enterprises. The development of the AGV systems play an important role in reducing labor cost, improving working conditions, unifying...
Among several typologies of innovation policy instruments, the most frequently used one is technology-push v.s. demand-pull. But this typology has some drawbacks. This paper proposes new typologies which classify innovation policy instruments into government-led versus market led, and product-oriented versus user-oriented. We posit that the innovation policy instruments of China have transited from...
Over the years, various path planning problems have been brought up and addressed. For example, shortest path first algorithm is usually adopted to search for the best route between a source and a destination for packet transmission over a network. In that case, we add up the distance of every segment along each of the available routes and choose the one with the least value. Path planning problems...
Path planning among obstacles for nonholonomic systems is a widely researched area nowadays, but it is still one of the most challenging problems in autonomous navigation. We have recently presented a rapidly exploring random tree based global planner (RTR) and a steering method (C*CS) for car-like vehicles, which uses circular and straight movements. With the aid of these two methods it is possible...
The technology roadmapping field has evolved over time from the first and second generation technology roadmaps to the current third generation roadmaps. As a strategy and policy formulation tool, technology roadmaps proved to be useful in facilitating learning and consensus across the firm or across the industry. Similarly, technology roadmaps have been used as a process to operationalise the strategies...
In this paper we describe a distributed, information theoretic motion planning strategy for multi-agent target detection. Agents assimilate measurements into a likelihood-ratio tracker, which provides a probability distribution for potential target locations. Information from other agents is fused with the local agents’ probability density using an Information Weighted Consensus Filter when in communication...
This paper presents a computational model capable of improving the action policies for a well-defined domain. Each action policy is represented as a driving plan P, which is composed of a number of actions {a1, ∶ an}. These actions can be used to move a train in a stretch of railroad Sti. The plans are elaborated using a CBR approach and reusing previous solutions and learning from plans. The CBR...
This paper considers the problem of path planning for autonomous ground vehicles on highways with regular traffic. The goal is to select a desired trajectory from a set of parameterized candidate trajectories such that some criterion is optimized. This selection is subject to avoiding collisions, respecting the traffic rules, and eliciting smooth behavior for passenger comfort. The desired trajectory...
This paper proposes a Rapidly exploring Random Trees planning strategy (Poli-RRT*) that computes optimal trajectories in presence of vehicle constraints (e.g., differential and actuation constraints) without approximating the nonlinear dynamics, but relying on exact linearisation. In this way, the optimal control problem that is introduced to determine the trajectories extending the tree can be expressed...
This paper proposes a sampling based planning technique for planning maneuvering paths for semi-autonomous vehicles, where the autonomous driving system may be taking over the driver operation. We use Rapidly-exploring Random Tree Star (RRT*) and propose a two-stage sampling strategy and a particular cost function to adjust RRT* to semi-autonomous driving, where, besides the standard goals for autonomous...
New requirements of autonomous mobile vehicles necessitate hierarchical motion-planning techniques that not only find a plan to satisfy high-level specifications, but also guarantee that this plan is suitable for execution under vehicle dynamical constraints. In this context, the H-cost motion-planning technique has been reported in the recent literature. We propose an incremental motion-planning...
This paper is focused on the formation planning and control of an arbitrary number of quadrotors transporting a cable-suspended payload. A payload that is modeled as a point mass is connected to quadrotors via rigid links, and a desired trajectory of the payload is prescribed. Assuming that the location and shape of obstacles are available, the desired formation of quadrotors relative to the payload...
The number of applications for automated ground vehicles has been rapidly increasing. Examples include autonomous mining trucks, tractors, military target vehicles, and durability testing of passenger vehicles. It is convenient to construct desired paths out of tangentially connected circular arc and straight line segments, which have been shown to be optimal in terms of path length. Unfortunately,...
This paper investigates two frameworks for interfacing trajectory tracking functions with a computationally tractable nonlinear model predictive trajectory guidance module for an autonomous road vehicle. In the first framework, the predictive trajectory guidance itself is configured in a tracking mode where the control inputs computed by the model predictive control act as targets for some lower-level...
This paper considers the trajectory planning problem of a vehicle system for automated lane change maneuvers. By considering a lane change maneuver as primarily a longitudinal planning problem, the proposed trajectory planning algorithm determines whether there exists a longitudinal trajectory which allows the ego vehicle to safely position itself in a gap between surrounding vehicles in the target...
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