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The intention of humans and autonomous robots to interact in shared spatial areas is a challenging field of research regarding human safety, system stability and performance of the system's behavior. In this paper the intention recognition between human and robot from the control point of view are addressed and the time schedule of the exchanged signals is discussed. After a description of the kinematic...
A major problem for a mobile robot aiming to work with people is how to move safely in a crowded environment where the robot-human contact is inevitable. However, most existing solutions focus on finding a collision-free path. Moreover, few of them considers the legged robots, which are believed to find wide applications in human daily life due to their superior mobility in complex artificial environments...
We present the design and implementation of a path planning algorithm for Unmanned Aerial Vehicles (UAVs) to avoid collisions with other aircraft. The aircraft are indifferent to the UAV. A sampling based method is developed to generate the avoidance path. The UAV's closed-loop system is used to simulate the trajectory in collision check used in path planning. The generated path is then checked against...
For the formation and obstacle avoidance problems of wheeled mobile robot, a multi-robot formation algorithm of trajectory tracking based on fabrication method is presented. First kinematics model is transformed into a chained form, and then through the canonical coordinate transform, the form error of the system is transformed into a series of nonlinear system, then Lyapunov function of the wheeled...
We are addressing the problem of designing an autonomous feedback control for a group of robots moving in the environment with obstacles and avoiding collisions. A robotic team with full information is considered. We propose a two-stage numerical approach for control synthesis. On the first stage a stabilizing control about some point in the state space is produced. On the second stage optimal trajectories...
In this paper is presented an algorithm for trajectory-tracking and obstacle avoidance for wheeled mobile robots (WMR). The proposed algorithm creates a trajectory composed of a global trajectory generated off-line and local obstacle avoidance trajectories that are created when an obstacle is detected by the sonar and laser sensors. Only one discrete-time sliding-mode controller is required to track...
An algorithm was developed for the formation flight of a team of fixed-wing aircraft to follow a desired trajectory described in terms of given waypoints. In-flight formation change can be commanded at set points along the trajectory or on demand. The algorithm makes use of the Hungarian algorithm for formation position assignment in a local tangent coordinate system. Trajectories of the aircraft...
A unified approach to cooperative and non-cooperative Sense-and-Avoid (SAA) is presented that addresses the technical and regulatory challenges of Unmanned Aircraft Systems (UAS) integration into non-segregated airspace. In this paper, state-of-the-art sensor/system technologies for cooperative and non-cooperative SAA are reviewed and a reference system architecture is presented. Automated selection...
Avoiding a fall after strong collisions between two players is an important capability for an adult-size humanoid robot. Particularly in the RoboCup competitions, matches are really competitive and collisions between players are occurred frequently. In the adult-size humanoid league, robots are tall and heavy. Whenever robots contact each other during moving, several unpredicted non-linear forces...
Forming a predetermined spatial shape is one of the most important problems of modern swarm robotics. The work presented here focuses on the motion planning for the swarm of identical robots in the task of spatial reconfiguration. The main requirement is that the reconfiguration must be collision free, that is, at each moment the pairwise distances between robots should not be smaller than some fixed...
Our research primarily focuses on developing mechanisms to intelligently route autonomous vehicles in an urban area while managing to reduce traffic congestion. We propose an Intelligent Transportation System for Autonomous vehicles based on Multi-Agent paradigm. These agents observe traffic conditions over a period of time. Historical traffic information along with information of factors that affects...
Collision on road is a classic and important problem as it brings about great loss on humans' safety and the efficiency of the traffic system. Numerous algorithms have been proposed to address the issue, and most of the existing researches are focused on rear-end, overtaking and lane change scenarios. However, due to the massive computing process, limitation of prediction time and complex layouts...
Studies on power-assist robots are actively performed to assist human motion. Some of them are applied to assist the daily motion of physically weak persons such as elderly persons. Perception-assist was proposed to avoid an unexpected accident of users of the power-assist robot. In perception-assist, a virtual wall is sometimes used to avoid stumbling accident. In this paper, an effective shape of...
Recent accident statistics have shown a continuous increase in year to year serious and very serious accidents at sea. In the near future, higher traffic density is estimated, which may further contribute to this increase. Within the 3-year Project MTCAS, partners from industry and academia contribute to accident reduction by developing an e-Navigation based System for pro-active, predictive and cooperative...
The paper concerns about high-level control of rescue robot called RUDA aimed on rescuing people in debris and under avalanches. The paper introduces the robot as a modular architecture and compares it with similar robotic projects. Then robots hardware capabilities are described together with demands on regulation and control of particular hardware. Particular solution of robot controller is described...
On the basis of a research project, the paper investigates vehicle trajectory estimation and prediction against the background of cooperative driving for the purpose of collision avoidance. For this reason, a low-cost single-frequency GNSS equipment is used and the vehicle state is processed applying Precise Point Positioning (PPP). Within a Kalman filter, the PPP solution is coupled with signals...
A behavioral multi-robot formation control approach is proposed. A leading robot moves along a predetermined trajectory. Two behavioral modes are defined for other robots to establish and maintain a given geometric shape with the leader in obstacle environments. To ensure the relative distance and bearing to the leader, the distance and the bearing to be kept are adjusted by two fuzzy logic controllers,...
A synthesis of optimal control for a group of robots is considered. Suppose every robot of group has full information about other robots. A two-stage numerical approach for optimal control synthesis is applied. Firstly, the task of stability in a state space for one robot is decided. For this purpose multilayer network operator is used. Secondly, a problem of designing optimal trajectories is considered...
This work presents a novel approach for integrity monitoring of AIS data. Currently, the AIS is a valuable source for maritime traffic situation assessment but not suited for collision avoidance, as it is prone to failures and not capable of indicating the level of data integrity. To tackle this, an EKF was designed to track vessel trajectories, which allows for failure detection based on residual...
As unmanned autonomous vehicles (UAVs) are being widely utilized in military and civil applications, concerns about mission safety and how to integrate different phases of mission design are growing significantly. One important barrier to a cost-effective and timely safety certification process for UAVs is the lack of a systematic approach for bridging the gap between understanding high-level commander/pilot...
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