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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...
An optimal guidance law of reentry vehicle both with terminal interception and impact angle constraint is derived, and tow types of optimal guidance law expressions “Proportional Navigation + Angle Constraint (PN+AC)” and “Velocity Pursuit + Angle Constraint (VP+AC)” are given with lag-free dynamic system. Then, simulations of non-dimensional miss distance and impact angle error base on statistical...
An optimal impact angle control guidance law is proposed in this paper. The missile system is approximated under the small heading error assumption and the impact angle control guidance law is derived based on the approximated system to minimize the energy cost. The proposed guidance law has a form of biased PNG law and it's in accord with the previous result of PNG in the form acceleration command...
This paper is focused on motion control of a nonholonomic car-like robot. The main idea of the proposed control method is based on an approximate decoupling of phase-constrained kinematics in order to imitate an omnidirectional robot. In order to facilitate the feedback design, the original kinematics is simplified and represented by a nilpotent homogeneous locally equivalent control system. Next,...
The paper introduces a new, original approach for the application in robotics and automation. The application concerns a path planning module of an intelligent control system. The marine environment was chosen as an exemplary application area, but the method can also be applied for mobile robots. The presented approach calculates a safe, optimal path for a ship in a dynamic environment, where static...
This paper follows with interest the problem of localizing Autonomous Underwater Vehicles (AUVs) in three-dimensional space by only using range measurements. Two AUVs are used. The first one is assumed to know its accurate location information in global coordinate system and serves as Communication and Navigation Aid (CNA). While the second is GPS-denied but equipped with an Inertial Navigation System...
This article focuses on fuzzy set theory as intelligent tools for navigator's decision-making to improve the safety of marine vessels in collision situations. A lot of progress has been made, especially in the field of artificial intelligence. The paper goal is to develop a decision support system based on artificial intelligence to determine a ship's trajectory in a collision situation. In this present...
In order to improve the attack effect from the top of maneuver target for air-to-ground missile, three-dimensional proportional navigation model with over-gravity compensation is established based on the relative motion equations. Three-dimensional ballistic trajectory of the missile attacking target is simulated based on the guidance and control closed-loop circuit. The effect of the over-gravity...
This paper presents a probabilistic approach to estimate the collision risk between two ROVs operating on trajectories at different depth levels. For an analytically tractable formulation, a circular cylindrical boundary is considered as a safe separation zone around each ROV, and any violation of this safe zone is defined as a conflict. The conflict probability between two ROVs is then estimated...
Path planning of an autonomous vehicle as a non-holonomic system is an essential part for many automated driving applications. Parking a car into a parking lot and maneuvering it through a narrow corridor would be a common driving scenarios in an urban environment. In this study a hybrid approach for dynamic path planning is presented which deals with the limited degrees of freedom of a non-holonomic...
Background: Unilateral spatial neglect (USN), a highly prevalent post-stroke impairment, has been strongly associated with poor functional outcomes in self-care and instrumental activities of daily living. Hence, its sensitive detection is crucial. Yet, conventional USN assessments present with significant limitations, often leading to misdiagnosis. Virtual reality (VR) can be used to counteract those...
With the advance in technologies and applications involving unmanned aerial systems cooperation among the autonomous agents within such an unmanned system as well as preparedness for responding to adversarial threat to such a system has become of pivotal importance. A multiphase operational scenario of such cooperative and adversarial engagement, motivated by manned aerial engagement scenarios, is...
This paper presents a modified potential field method for mobile robots and intelligent vehicles local navigation. The approach overcomes the well-known artificial potential field (APF) method issue, which is due to local minima that induce the standard APF method to trap in. Thus, the standard APF method is no longer useful in such cases. The advantage of the new proposed method, as opposed to those...
The problem of navigation and control of movement of wheeled mobile robot by bearing of the reference beacons is considered. The quality criteria of controllable motion of such robots are revealed, the formalism of nonholonomic mechanics used for constructing their mathematical models is briefly considered. A mathematical model of a three-wheeled mobile robot with two independent driving wheels is...
In the Multi-Policy Decision Making (MPDM) framework, a robot's policy is elected by sampling from the distribution of current states, predicting future outcomes through forward simulation, and selecting the policy with the best expected performance. Electing the best plan depends on sampling initial conditions with influential (very high costs) outcomes. Discovering these configurations through random...
In this paper, we introduce a communication-aware algorithm to navigate mobile agents with non-trivial dynamics in cluttered environments. The navigation technique is based on the Harmonic Potential Field (HPF) approach to motion-planning. The proposed approach employs beamforming at the Base-Station (BS) simultaneously with the robot's motion to increase the Channel Spectral Efficiency (CSE). The...
This paper addresses the motion planning problem for a team of aerial agents under high level goals. We propose a hybrid control strategy that guarantees the accomplishment of each agent's local goal specification, which is given as a temporal logic formula, while guaranteeing inter-agent collision avoidance. In particular, by defining 3-D spheres that bound the agents' volume, we extend previous...
Small Unmanned Aerial Vehicles (UAVs) are some of the most promising robotic platforms in a variety of applications due to their high mobility. Their restricted computational and payload capabilities, however, translate into significant challenges in automating their navigation. With Simultaneous Localization And Mapping (SLAM) systems recently demonstrated to be employable onboard UAVs, the focus...
In this paper, we consider a networked multi-robot system operating in an obstacle populated planar workspace under a single leader-multiple followers architecture. We propose a decentralized reconfiguration strategy of the set of connectivity and formation specifications that assures convergence to the desired point, while guaranteeing global connectivity. In particular, we construct a low-level...
We present a novel approach for collision-free global navigation for continuous-time multi-agent systems with general linear dynamics. Our approach is general and can be used to perform collision-free navigation in 2D and 3D workspaces with narrow passages and crowded regions. As part of pre-computation, we compute multiple bridges in the narrow or tight regions in the workspace using kinodynamic...
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