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Reactive navigation for non-holonomic robots using the ego kinematic space

by Javier Mínguez, Luis Montano, José Santos-victor - in Int. Conf. on Robotics and Automation , 2002
"... We address the problem of applying reactive navigation methods to non-holonomic robots. Rather than embedding the motion constraints when designing a navigation method, we propose to introduce the robot’s kinematic constraints directly in the spatial representation. In this space- the Ego-Kinematic ..."
Abstract - Cited by 12 (0 self) - Add to MetaCart
We address the problem of applying reactive navigation methods to non-holonomic robots. Rather than embedding the motion constraints when designing a navigation method, we propose to introduce the robot’s kinematic constraints directly in the spatial representation. In this space- the Ego

The Shortest Path Synthesis for Non-holonomic Robots Moving Forwards

by Xuân-Nam Bui, Xu An-nam Bui, Philippe Souères, Xu An-nam Bui, Jean-daniel Boissonnat, Jean-daniel Boissonnat, Jean-Paul Lamont, Jean-paul Laumond, Projet Prisme, Theta S, Marche Avant - INRIA, Nice-Sophia-Antipolis, Research Report 2153 , 1993
"... : We calculate the partition of the configuration space IR 2 \Theta S 1 of a car-like robot, only moving forwards, with respect to the type of the length optimal paths. This kind of robot is subject to kinematic constraints on its path curvature and its orientation. Starting from the results on ..."
Abstract - Cited by 13 (3 self) - Add to MetaCart
on shortest paths by [Dub57] and [BCL92], we give new optimality conditions on these paths, and compute the partition for any horizontal plane of the configuration space. Key-words: Optimal control, Synthesis problem, Non-holonomic robot, Bounded radius of curvature, Dubins shortest paths (R

Reactive Visual Control of Multiple Non-Holonomic Robotic Agents

by Kwun Han, Manuela Veloso - In Proceedings of the International Conference on Robotics and Automation , 1998
"... We have developed a multiagent robotic system including perception, cognition, and action components to function in a dynamic environment. The system involves the integration and coordination of a variety of diverse functional modules. At the sensing level, our complete multiagent robotic system inc ..."
Abstract - Cited by 28 (12 self) - Add to MetaCart
handles visually homogeneous agents. We describe our non-holonomic control for single robot navigation, and show how it applies to dynamic path generation to avoid multiple moving obstacles. We illustrate our algorithms with examples from our real implementation. Using the approaches introduced, our

Reactive Visual Control of Multiple Non-Holonomic Robotic Agents

by unknown authors
"... We have developed a multiagent robotic system including perception, cognition, and action components to function in a dynamic environment. The system involves the integration and coordination of a variety of diverse functional modules. At the sensing level, our complete multiagent robotic system inc ..."
Abstract - Add to MetaCart
handles visually homogeneous agents. We describe our non-holonomic control for single robot navigation, and show howit applies to dynamic path generation to avoid multiple moving obstacles. We illustrate our algorithms with examples from our real implementation. Using the approaches introduced, our

Visual-Guided Planning and Control for a Non-Holonomic Robot

by Alexis Scheuer , 1998
"... : This technical report summarizes the work I have achieved in the "Vision and Control" Strategic Research Program, directed by Dr. Xie Ming, from February to September 1998. It is articulated in two parts, the first one describing my team work and the second presenting my research work. ..."
Abstract - Cited by 1 (1 self) - Add to MetaCart
proposes an algorithm to integrate, on a Nomad 200 TM robot, vision sensing with a control and planning system adapted to the robot. If practical results have not been as successful as anticipated, theoretical results and implementations should allow to achieve the aimed objectives soon. Table

Maintaining Visibility of a Moving Holonomic Target at a Fixed Distance with a Non-Holonomic Robot

by R. Murrieta-cid, L. Munoz-Gomez A. Sarmiento, L. Muñoz-gomez, A. Sarmiento, S. Kloder, F. Lamiraux, S. Hutchinson, J.P Laumond, M. Alencastre-Miranda, A S. Hutchinson Laas/cnrs
"... In this paper we consider the problem of maintaining surveillance of a moving the target by a nonholonomic mobile observer. The observer's goal is to maintain visibility of the target from a predefined, fixed distance, l. The target escapes if (a) it moves behind an obstacle to occlude the obse ..."
Abstract - Cited by 2 (1 self) - Add to MetaCart
In this paper we consider the problem of maintaining surveillance of a moving the target by a nonholonomic mobile observer. The observer's goal is to maintain visibility of the target from a predefined, fixed distance, l. The target escapes if (a) it moves behind an obstacle to occlude the observer's view, (b) it causes the observer to collide with an obstacle, or (c) it exploits the nonholonomic constraints on the observer motion to increase its distance from the observer beyond the surveillance distance l.

Probabilistic Roadmaps for Path Planning in High-Dimensional Configuration Spaces

by Lydia Kavraki, Petr Svestka, Jean-claude Latombe, Mark Overmars - IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION , 1996
"... A new motion planning method for robots in static workspaces is presented. This method proceeds in two phases: a learning phase and a query phase. In the learning phase, a probabilistic roadmap is constructed and stored as a graph whose nodes correspond to collision-free configurations and whose edg ..."
Abstract - Cited by 1277 (120 self) - Add to MetaCart
nodes. The method is general and easy to implement. It can be applied to virtually any type of holonomic robot. It requires selecting certain parameters (e.g., the duration of the learning phase) whose values depend on the scene, that is the robot and its workspace. But these values turn out

Session IT 301-018 Non-holonomic Robotic Control Using the BasicX-24p Microcontroller

by John M. Kuperavage
"... The study of microprocessors and microcontrollers is considered to be a staple topic of study in many electronics, control systems, mechatronics and automation systems technical programs. Processors and controllers continually improve at an exponential rate. Instructors of courses in microprocessors ..."
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in microprocessors and microcontrollers need constant exposure to the latest technologies available to ensure that their students remain on the cutting edge of our technological capability. The presentation will focus on how the BasicX (BX-24p) microcontroller may be utilized to control non-holonomic autonomous

Agile, Steady Response of Inertial, Constrained Holonomic Robots Using Nonlinear, Anisotropic Dampening Forces

by Ahmad A. Masoud
"... Abstract- In this paper the harmonic potential field (HPF) approach to motion planning is adapted to work with second order mechanical systems. The extension is based on a novel type of dampening forces called: nonlinear, anisotropic, dampening forces (NADFs). It is shown that NADFs are effective ai ..."
Abstract - Cited by 2 (1 self) - Add to MetaCart
Abstract- In this paper the harmonic potential field (HPF) approach to motion planning is adapted to work with second order mechanical systems. The extension is based on a novel type of dampening forces called: nonlinear, anisotropic, dampening forces (NADFs). It is shown that NADFs are effective aids for planning spatially-constrained kinodynamic trajectories for mechanical systems. Theoretical developments and simulation results are provided in the paper. I.

non-holonomic

by Krzysztof Tchoń Janusz Jakubiak, Krzysztof Tchon ́, Janusz Jakubiak
"... planning for parallel robots with ..."
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planning for parallel robots with
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