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This paper addresses the problem of real-time, non-holonomic motion planning in environments with moving obstacles of unforeseen, arbitrary motion. An approach is introduced to smoothly switch trajectories by generating feasible non-holonomic trajectory segments on the fly as the robot moves in such an environment, extending the real-time adaptive motion planning (RAMP) approach that is used for holonomic...
Our human-robot collaboration research aims to improve the fluency and efficiency of interactions between humans and robots when executing a set of tasks in a shared workspace. During human-robot collaboration, a robot and a user must often complete a disjoint set of tasks that use an overlapping set of objects, without using the same object simultaneously. A key challenge is deciding what task the...
With the huge advances in the field of wireless communication technologies and the availability of large volume of data on customers, it becomes imperative to develop a system that can be used in shopping center to make shopping more enjoyable and efficient for the customer and the monitoring real-time easier for the store's management. A Geomarketing system based on Bluetooth Low Energy (BLE) is...
In this paper, we propose a real-time control method for skating motion of humanoid robots. There are three problems for skating motion: (1) keeping dynamic balance, (2) adequately controlling foot force to suppress slipping at the foot, (3) controlling full-body motion in real-time. For solving these problems, we propose the Skating Motion Generator and the Skating Motion Stabilizer. In the Skating...
Real-time outdoor navigation in highly dynamic environments is an crucial problem. The recent literature on real-time static SLAM don't scale up to dynamic outdoor environments. Most of these methods assume moving objects as outliers or discard the information provided by them. We propose an algorithm to jointly infer the camera trajectory and the moving object trajectory simultaneously. In this paper,...
Mobility On Demand (MOD) systems are revolutionizing transportation in urban settings by improving vehicle utilization and reducing parking congestion. A key factor in the success of an MOD system is the ability to measure and respond to real-time customer arrival data. Real time traffic arrival rate data is traditionally difficult to obtain due to the need to install fixed sensors throughout the...
This paper introduces a new method for automatic robotic needle steering in deformable tissues. The main contribution relies on the use of an inverse Finite Element (FE) simulation to control an articulated robot interacting with deformable structures. In this work we consider a flexible needle, embedded in the end effector of a 6 arm Mitsubishi RV1A robot, and its insertion into a silicone phantom...
Fast real-time tracking is an integral component of modern 3D computer vision pipelines. Despite their advantages in accuracy and reliability, optical trackers suffer from limited acquisition rates depending either on intrinsic sensor capabilities or physical limitations such as exposure time. Moreover, data transmission and image processing produce latency in the pose stream. We introduce quaternionic...
We present a real-time framework for planning natural and smooth grasping motions in an online manner based on the interaction with human. The proposed framework is able to change its grasp strategies agilely according to the interaction with human. Given human demonstrations, we develop a motion field graph consisting of nodes and edges where the nodes contains reference finger poses and their time...
Real time indoor navigation has lately been a growing field. Some applications might not need a real time estimation of the trajectory, and a post processing framework provides a better estimation of this trajectory. Thus, the aim of this paper is to present and compare three different algorithms to improve a real time trajectory estimation. Two different smoothing algorithms and the Viterbi algorithm...
In this paper, a new cooperative control aiming at reducing the time delay is proposed in an isolated intersection without the traffic light. First of all, the control center receives the time range of arriving at the intersection from the vehicle by the communication of vehicle-to-infrastructure. Then a passing sequence is optimized by the Genetic Algorithm based on this range and sent to each vehicle...
In this paper, a new model is proposed based on the three-mass inverted pendulum for generating real-time walking pattern for biped robots. To generate walking pattern for biped robots, the Center of Mass (COM) trajectory is calculated using a designed ankle trajectory and the inverted pendulum model. For this purpose, a new three-mass inverted pendulum model is proposed to improve the accuracy of...
In this paper, a method for stabilizing biped robots stepping by a combination of Divergent Component of Motion (DCM) tracking and step adjustment is proposed. In this method, the DCM trajectory is generated, consistent with the predefined footprints. Furthermore, a swing foot trajectory modification strategy is proposed to adapt the landing point, using DCM measurement. In order to apply the generated...
Recently, Simultaneous Localization And Mapping (SLAM) has been getting more and more popular on the applications of mobile robot and unmanned aerial vehicles. If combined with semi-dense mapping, monocular SLAM will have a good prospect for multi-applications such as visual navigation. In addition, robust tracking is a pivotal role in complex and volatile situation and also it determines the quality...
In this paper, an approach for real time obstacle avoidance of autonomous vehicles is presented. A model predictive control (MPC) scheme based on convex quadratic programming (CQP) is developed to generate safety trajectories. To reduce the computational burden in optimizing the performance index of MPC, linear time-varying MPC is adopted and a unique single dimension artificial potential fields (SDAPF)...
This paper introduces a new Learning from Demonstration (LfD)-based method that makes usage of robot effector forces and torques recorded during expert demonstrations, to generate force-based haptic guidance reference trajectories on-line, that are intended to be used during haptic shared control for additional operator ‘guidance’. Derived haptic guidance trajectories are superimposed to master-device...
The Doppler-Bearing Target Motion Analysis (DBTMA) problem arises in various military applications related to target tracking. The DBTMA problem is to estimate the position and velocity of a target using both frequency and bearing measurements. As the method to increase the estimation accuracy in the DBTMA problem, this paper introduces observer motion controls under the following motion constraints:...
To analyze the driving behavior is important for design a comfortable automatic driving. So far, conventional PID models was widely used to steer the vehicle. It had been assumed that the driver looks at the constant point in conventional PID model. However, all drivers have experiences that the gazing distance changes according to the situations. The PID gain of the steering model are modified depending...
Indoor positioning system is a rapidly emerging technology. Unlike outdoor positioning, which uses triangulation from satellites in line-of-sight, current indoor positioning methods attempt triangulation using Received Signal Strength Indicator (RSSI) from indoor transmitters, like WiFi and RFID. These methods, however, are not accurate and suffer from issues like multi-path and absorption by walls...
In this paper, trajectory optimisation algorithms developed specifically for the Global Navigation satellite System (GNSS) Avionics-Based Integrity Augmentation (ABIA) system are presented. The ABIA system is designed to increase the levels of integrity and accuracy (as well as continuity in multi-sensor data fusion architectures) of GNSS in a variety of mission- and safety-critical aviation applications...
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