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Compared with fully actuated systems, underactuated systems present such advantages as simpler structure, broader applications, and so on. Yet, the control of this kind of system proves to be a very challenging problem since the number of control inputs is less than that of the degrees of freedom, which thus attracts much attention from the control community during the past two decades. This paper...
A recently introduced method for robotic vascular catheterization is Fringe Field Navigation (FFN). A requirement of this method is the trajectory required for planning the sequences of navigation. We have introduced a method of trajectory planning compatible with the requirements of FFN for vasculature navigation. The method exploits the vessel centerline to define the vascular structure trajectory...
In this paper, a footprint determination algorithm for entry vehicles based on three-dimensional acceleration profile is proposed, which solves the problem of fast determination of the entry coverage with complex multi-constraints. The aerodynamic adjustment capability is greatly improved since both the angle of attack and bank are regarded as primary variables, and in this way larger entry footprint...
The Five-hundred-meter Aperture Spherical Radio Telescope (FAST) requires high accuracy of positioning and attitude adjusting. Due to its flexible structure, the cable-cabin system can be excited to vibrate, which affects the performance. To alleviate the vibration during the slewing task, taking advantage of s-curve planning and input shaping, a cascade motion planning method is proposed. Considering...
Understanding the stereotypical characteristics of human movement can better inform rehabilitation practices by providing a template of healthy and expected human motor control. Multiplicative noise is inherent in goal-directed movement, such as reaching to grasp an object. Multiplicative noise plays an important role in computational motor control models to help support phenomena such as stereotypical...
In this paper, we investigate cooperative passive sensor trajectory planning for tracking a target where the tracking error is sensor trajectory dependent. We consider the problem under a scenario of tracking a moving target using two unmanned bearings-only sensors. The basic idea is to maximise the target information acquired from the processing measurements of the two sensors by cooperatively scheduling...
In this paper, a quadrotor path-planning problem while avoiding obstacles, in different shapes and sizes, is considered. The quadrotor is assumed to pass by a set of scattered points or regions defined according to the desired mission following the shortest path. The problem is solved by using a two-scale proposed algorithm. In the first scale, multi-directional optimal Rapidly-exploring Random Trees...
A method of planning sub-optimal trajectory for two mobile manipulators moving the common rigid object is presented. The robotic task is to move the object to a final location in the workspace. Trajectory planning problem is solved using a leader-follower approach. The motions are planned in order to avoid manipulators singularities. Mechanical constraints of the robots are taken into consideration...
The Cooperative Multi-Area Coverage (CMAC) refers to a class of complex tasks in which multiple robots are required to jointly cover multiple areas by performing specific operations while moving across them. Practical operations may be garbage clearance, demining, area scanning for information acquisition, and so on. This paper proposes a distributed motion planning method for multiple robots to cooperatively...
This paper addresses the safe and legible navigation of mobile robots in multi-agent encounters. A novel motion model provides the basis to predict, plan and coordinate agent trajectories in intersection scenarios. The approach establishes an implicit, non-overt cooperation between the robot and humans by linking the prediction and planning of agent trajectories within a unified representation in...
This work is concerned with the robot individuality generation in action control. In the near future autonomous robots will plan and practice actions according to the code of conduct they generate. It is important to investigate how a robot's personality or individual character will form and how to create a desirable one. When only the task objective is given, the control of a complex robot action...
A method of trajectory planning with regards to control constraints for mobile manipulator working in the workspace including obstacles is presented. The task of the robot is to reach a specified end-effector position with high manipulability measure of the holonomic arm. The motion is planned in such a way to guarantee that mechanical and collision constraints are satisfied. To ensure fulfillment...
This paper addresses the trajectory tracking problem which will be regarded as an open-loop planning problem, in contrast to various feedback motion control methods. The trajectory tracking problem is formulated as the constrained motion planning problem, whereas constraints reflect the distance in the task space between the system output and the desired trajectory. The problem consists in defining...
A method of improving the location accuracy of a target when imaged from an unmanned aerial vehicle (UAV) is described. This method focuses on improving estimation of heading angle bias to then improve geolocation performance. A Particle Swarm Optimization (PSO) algorithm is employed to derive an expression of optimal flight path, which can be a guide for trajectory planning. The aircraft is commanded...
We present a framework from vision based hand movement prediction in a real-world human-robot collaborative scenario for safety guarantee. We first propose a perception submodule that takes in visual data solely and predicts human collaborator's hand movement. Then a robot trajectory adaptive planning submodule is developed that takes the noisy movement prediction signal into consideration for optimization...
Trajectory planning has been a common and important topic in robotics since its generation. As a powerful tool, it can enhance the performance of the robots in manufacturing industry. In this paper, a trajectory planning method based on unit quaternion was proposed. Unit quaternions were used to represent the orientations of the target as there are no more singularities. The trajectory was planning...
We present a path planning method for computing optimal parking maneuvers for road vehicles, operating in a known environment in the presence of static obstacles. The proposed approach is based on the numerical solution of the Hamilton-Jacobi-Bellman equations and allows finding the minimum length trajectory with a number of direction changes bounded by an assigned constant. Various numerical tests...
Trajectories planning and motion control of two-legged robots comprise many subtasks for different scenarios. In this paper the problem of stabilization of humanoid robot Darwin-OP in a standing position is considered. The robot balances on a rotating surface with unknown angle and speed. Estimation of surface inclination is provided by data of motor encoders and inertial measurements of accelerometer...
This paper extends some previous work on trajectory generation for UAV (Unmanned Aerial Vehicles) using differential flatness in combination with B-splines parametrization. The originality of this work resides in the geometrical interpretations of the B-splines properties and their use in generating feasible flat trajectories for nonlinear UAV dynamics while ensuring continuous constraint validation...
Each year, millions of motor vehicle traffic accidents all over the world cause a large number of fatalities, injuries and significant material loss. Automated Driving (AD) has potential to drastically reduce such accidents. In this work, we focus on the technical challenges that arise from AD in urban environments. We present the overall architecture of an AD system and describe in detail the perception...
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