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Multiple Unmanned Aerial Vehicles(UAVs) are crucial for Cyber-Physical Systems(CPS). No collisions should be ensured between each other when executing a complex task. This paper proposes a state-prediction-based trajectory control strategy for UAVs. We first introduce the concept of “space-time protection volume” under the constraint of the number of needed vehicles and the scope of the task space...
In this study, a placement-position search technique for robot-executable, space-efficient packing of various objects with a robot manipulator has been developed. The technique is used to enable placing objects in order from the corner of a container, fulfilling the following conditions: (A) the corner is within the reach of a robot manipulator, and (B) the robot manipulator does not collide with...
We present a framework for online coordinated obstacle avoidance with formal safety guarantees. Such a formally verified trajectory planner can be used in shared human-robot workspaces to guarantee safety. The obstacle avoidance is based on estimation of the human occupancy on two different time scales. A long-term plan is created based on a probabilistic task representation, learned by demonstration,...
The motivating mission for the work presented in this paper is performing photo-surveys of areas of the deep ocean seafloor using an autonomous underwater vehicle (AUV). This paper describes a method for estimating the full terrain profile ahead of an AUV using an obstacle avoidance sonar. This allows the use of an existing trajectory planning method to optimize low altitude trajectories for high...
The introduction of dedicated software functions for separation assurance and collision avoidance in Next Generation Flight Management Systems (NG-FMS) has the potential to enable significant advances in the Unmanned Aircraft System (UAS) Traffic Management (UTM) operational context. In this paper, key elements of the NG-FMS architecture are presented that allow planning and optimisation of 4-dimensional...
The descriptor function framework is used as tool for the control management of a swarm of dynamic agents. In this framework, a provision is made for obstacle and collision avoidance, thus improving the potential of the methodology from previous results. Obstacle and collision avoidance terms are added to the overall mission performance index, and the resulting control law moves the agents along obstacle...
The present work proposes the implementation of a collision-free path with automatic assignment of repulsion parameters, the solution space where this path is located includes rectangle-shape and circled-shape obstacles with different dimensions, all this information generates a Nonlinear Algebraic Equations System (NAES). The Homotopic Path Planning Method (HPPM) is being used to find points that...
This paper proposes the algorithm for flocking of group of nonholonomic mobile robots. Three protocols of smooth potential function are implemented, i.e. flocking, obstacle avoidance, and attracting to goal, as variables of velocity. The main scheme of control of the mobile robots is the use of trajectory tracking which is generated in order to obtain flocking behavior, collision and obstacle avoidance,...
Manual motion control (MMC) problems are seen in the conveyance of a large amount of products in factories and stores. One of the most successful examples of MMC is power assist. The power-assisted systems have been introduced to reduce workers' loads in industrial production. In near future, in order to improve its efficiency, the power-assisted systems should include automatic operational modes...
This paper proposes a co-worker in-time Parts/tools Delivery to You robot, PaDY, in an automobile assembly line. Since co-worker robots share a workspace, the workers are at risk of colliding with them. Therefore, the safety of the workers has to be considered when operating such robots. In previous studies, the robot generally stops to ensure the worker's safety when a collision is detected, delaying...
A problem of motion planning and coordination of compact formations of ground and aerial robots will be tackled in this paper. The scenarios when the formation composed from Unmanned Ground Vehicles (UGVs) and Unmanned Aerial Vehicles (UAVs), in particular Micro Aerial Vehicles (MAVs), has to reverse the direction of movement to fulfil task of collisionfree motion to a target zone will be solved....
In the article, a reactive torque-based hierarchical task-space control for a robot with multiple redundant DOFs is presented that is suitable to plan, validate and execute a humanoid upper-body motion in human oriented environment. The strategy consists of: (i) joint limit avoidance, (ii) self-collision avoidance using repulsive force fields with additional environment collision avoidance, (iii)...
It is a common practice to take advantage of redundancy in a manipulator to avoid obstacles while the end-effector is conducting a task-constrained motion, such as compliant motion for assembly. However, existing approaches rely on increasing the distance between the obstacles and the robot arm to avoid obstacles, which may result in a conflict between task motion and obstacle avoidance, i.e., when...
In this work we present a novel and generic framework for reactive collision avoidance in bipedal locomotion, which is formulated as an optimization problem considering the constraints of collision avoidance as well as others (e.g. joint limits) to simultaneously satisfy both Cartesian and joint space objectives. To realize the reactive behaviors, several task space motions, such as the translational...
A novel learning algorithm based on Dynamic Movement Primitives (DMPs) is proposed for mobile robot path planning. First a path is artificially planned and the trajectories are used as sample set. The autonomous path planning of the robot is realized by establishing the DMPs model, utilizing the model parameters obtained by training with the sample trajectory. At last, the learned trajectory is generalized...
This paper deals with the formation and obstacle avoidance of mobile robots in a cluttered environment. By combining an artificial potential field, a leader-follower method is presented to make the multi-robot system keep formation whilst avoiding obstacles. According to the pose and movement conditions of the designated leader, the follower would adjust its position so that the formation control...
In this paper, a real-time laser based gap finding obstacle avoidance algorithm is presented. This algorithm layers on top of a global planner to maintain the overall goal of a given task. In the presence of an unknown obstacle, the algorithm computes a trajectory toward a gap that is wide enough and is closest to the path pre-planned by the global planner. In order to achieve this result, a four-stage...
Robots of the future would be sophisticated enough to do all kinds of tasks for the human master, while operating a team of robots would ensure that the tasks are done as efficiently as possible. This paper presents a solution to a very common mission wherein a team of robots needs to visit a number of mission sights and carry some operation there. The sights may have their own preference of robots...
In this paper, permutation invariant and collision free trajectories for a formation control problem are generated by using the root locus principle. A polynomial based representation space of multiple robots in two dimensional space is proposed, and the invariant properties in this space are analyzed. The formation control problem is solved in the representation space. A set of permutation invariant...
We present a distributed on-line coordinated motion planning approach for a group of mobile robots moving amidst dynamic obstacles. The objective for the motion planning is to minimize the total distance traveled by the robots as well as the danger of deadlock. Kinematic constraints, robot-obstacle collision avoidance constraints, and velocity/acceleration constraints are explicitly considered in...
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