Download or read book Motion Planning for Dynamic Agents written by Zain Anwar Ali and published by BoD – Books on Demand. This book was released on 2024-01-17 with total page 152 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book, Motion Planning for Dynamic Agents, presents a thorough overview of current advancements and provides insights into the fascinating and vital field of aeronautics. It focuses on modern research and development, with an emphasis on dynamic agents. The chapters address a wide range of complex capabilities, including formation control, guidance and navigation, control techniques, wide-space coverage for inspection and exploration, and the best pathfinding in unknown territory. This book is a valuable resource for scholars, practitioners, and amateurs alike due to the variety of perspectives that are included, which help readers gain a sophisticated understanding of the difficulties and developments in the area of study.

Download or read book Motion Planning in Dynamic Environments written by Kikuo Fujimura and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 190 pages. Available in PDF, EPUB and Kindle. Book excerpt: Computer Science Workbench is a monograph series which will provide you with an in-depth working knowledge of current developments in computer technology. Every volume in this series will deal with a topic of importance in computer science and elaborate on how you yourself can build systems related to the main theme. You will be able to develop a variety of systems, including computer software tools, computer graphics, computer animation, database management systems, and computer-aided design and manufacturing systems. Computer Science Workbench represents an important new contribution in the field of practical computer technology. TOSIYASU L. KUNII To my parents Kenjiro and Nori Fujimura Preface Motion planning is an area in robotics that has received much attention recently. Much of the past research focuses on static environments - various methods have been developed and their characteristics have been well investigated. Although it is essential for autonomous intelligent robots to be able to navigate within dynamic worlds, the problem of motion planning in dynamic domains is relatively little understood compared with static problems.

Download or read book Algorithmic Foundations of Robotics X written by Emilio Frazzoli and published by Springer. This book was released on 2013-02-14 with total page 625 pages. Available in PDF, EPUB and Kindle. Book excerpt: Algorithms are a fundamental component of robotic systems. Robot algorithms process inputs from sensors that provide noisy and partial data, build geometric and physical models of the world, plan high-and low-level actions at different time horizons, and execute these actions on actuators with limited precision. The design and analysis of robot algorithms raise a unique combination of questions from many elds, including control theory, computational geometry and topology, geometrical and physical modeling, reasoning under uncertainty, probabilistic algorithms, game theory, and theoretical computer science. The Workshop on Algorithmic Foundations of Robotics (WAFR) is a single-track meeting of leading researchers in the eld of robot algorithms. Since its inception in 1994, WAFR has been held every other year, and has provided one of the premiere venues for the publication of some of the eld's most important and lasting contributions. This books contains the proceedings of the tenth WAFR, held on June 13{15 2012 at the Massachusetts Institute of Technology. The 37 papers included in this book cover a broad range of topics, from fundamental theoretical issues in robot motion planning, control, and perception, to novel applications.

Download or read book Safe Motion Planning for Mobile Agents written by and published by . This book was released on 1990 with total page 11 pages. Available in PDF, EPUB and Kindle. Book excerpt: The problem of motion planning for multiple mobile agents is studied. Each planning agent independently plans its own action based on its map which contains a limited information about the environment. In an environment where more than one mobile agent interacts, the motions of the robots are uncertain and dynamic. A model for reactive agents is described and simulation results are presented to show their behavior patterns. 18 refs., 2 figs.

Download or read book Real time Motion Planning of Multiple Agents and Formations in Virtual Environments written by Yi Li and published by . This book was released on 2008 with total page 222 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this thesis, we studied the problem of real-time motion planning of multiple agents and multiple formations in virtual environments and games. In many such applications, agents move around and their motion must be planned. We are especially interested in motion planning in Real-time Tactical (RTT) games because they offer a challenging problem setting due to the following aspects: multiple agents, real-time, dynamic obstacles, complex environments, coherence of the agents (e.g., formations), and inexpensive pre-processing. We use the (basic) continuum model (a real-time crowd simulation framework based on the Fast Marching Method (FMM)) extensively in this thesis, because it unifies global planning and local planning (e.g., collision avoidance). Since the basic model may fail to generate collision-free paths in certain constrained situation (e.g., when agents pass through narrow passages) due to deadlocks amongst the agents, we propose to use a principled and efficient AI technique for decision making and planning (i.e., Coordination Graph (CG)) to avoid such deadlocks in the narrow passages. Next, we present the adaptive multi-resolution continuum model to plan motion of multiple agents. It allows each agent to have its own goal compared to the basic model, where agents have to be grouped into a few groups, while retaining the advantages of the basic model. Finally, we present a flexible virtual structure approach to the multi-agent coordination problem. The approach conceives of agents in a formation as if they lie on an elastic shape, which is modeled using the Boundary Element Method (BEM). Due to the BEM's boundary-only nature, even a formation with a large number of agents can be deformed in real-time. This approach for formation control is then combined with the continuum model to plan motion of multiple formations in virtual environments. To the best of our knowledge, this motion planning algorithm for multiple formations is the first one that does not use ad-hoc and local approaches and hence agents in a formation do not split easily from the formation. We believe that these three algorithms can be used as basic motion planning toolkits toward enhancing the capabilities of RTT games.

Download or read book Motion Planning written by Edgar A. Martínez García and published by BoD – Books on Demand. This book was released on 2022-01-26 with total page 126 pages. Available in PDF, EPUB and Kindle. Book excerpt: Motion planning is a fundamental function in robotics and numerous intelligent machines. The global concept of planning involves multiple capabilities, such as path generation, dynamic planning, optimization, tracking, and control. This book has organized different planning topics into three general perspectives that are classified by the type of robotic applications. The chapters are a selection of recent developments in a) planning and tracking methods for unmanned aerial vehicles, b) heuristically based methods for navigation planning and routes optimization, and c) control techniques developed for path planning of autonomous wheeled platforms.

Download or read book Real time Motion Planning and Safe Navigation in Dynamic Multi robot Environments written by James Robert Bruce and published by . This book was released on 2006 with total page 204 pages. Available in PDF, EPUB and Kindle. Book excerpt: All mobile robots share the need to navigate, creating the problem of motion planning. In multi-robot domains with agents acting in parallel, highly complex and unpredictable dynamics can arise. This leads to the need for navigation calculations to be carried out within tight time constraints, so that they can be applied before the dynamics of the environment make the calculated answer obsolete. At the same time, we want the robots to navigate robustly and operate safely without collisions. While motion planning has been used for high level robot navigation, or limited to semi-static or single-robot domains, it has often been dismissed for the real-time low-level control of agents due to the limited computational time and the unpredictable dynamics. Many robots now rely on local reactive methods for immediate control of the robot, but if the reason for avoiding motion planning is execution speed, the answer is to find planners that can meet this requirement. Recent advances in traditional path planning algorithms may offer hope in resolving this type of scalability, if they can be adapted to deal with the specific problems and constraints mobile robots face. Also, in order to maintain safety, new scalable methods for maintaining collision avoidance among multiple robots are needed in order to free motion planners from the "curse of dimensionality" when considering the safety of multiple robots with realistic physical dynamics constraints. This thesis contributes the pairing of real-time motion planning which builds on existing modern path planners, and a novel cooperative dynamics safety algorithm for high speed navigation of multiple agents in dynamic domains. It also explores near real-time kinematically limited motion planning for more complex environments. The thesis algorithms have been fully implemented and tested with success on multiple real robot platforms.

Download or read book Intelligent and Evolutionary Systems written by George Leu and published by Springer. This book was released on 2016-11-08 with total page 507 pages. Available in PDF, EPUB and Kindle. Book excerpt: Over the last two decades the field of Intelligent Systems delivered to human kind significant achievements, while also facing major transformations. 20 years ago, automation and knowledge-based AI were still the dominant paradigms fueling the efforts of both researchers and practitioners. Later, 10 years ago, statistical machine intelligence was on the rise, heavily supported by the digital computing, and led to the unprecedented advances in and dependence on digital technology. However, the resultant intelligent systems remained designer-based endeavors and thus, were limited in their true learning and development abilities. Today, the challenge is to have in place intelligent systems that can develop themselves on behalf of their creators, and gain abilities with no or limited supervision in the tasks they are meant to perform. Cognitive development systems, and the supporting cognitive computing are on the rise today, promising yet other significant achievements for the future of human kind. This book captures this unprecedented evolution of the field of intelligent systems, presenting a compilation of studies that covers all research directions in the field over the last two decades, offering to the reader a broad view over the field, while providing a solid foundation from which outstanding new ideas may emerge.

Download or read book Predictive Modeling and Socially Aware Motion Planning in Dynamic Uncertain Environments written by Yu Fan Chen (Ph. D.) and published by . This book was released on 2017 with total page 151 pages. Available in PDF, EPUB and Kindle. Book excerpt: Advances in sensor technologies and computing power have spurred a surge of interest in autonomous vehicles, such as indoor service robots and self-driving cars. The potential applications of such vehicles are predicted to have far-reaching impacts on human mobility and the economy at large. While there has been significant progress in the past decade, reliable, fully autonomous navigation remains challenging, particularly in environments that entail frequent interactions with other dynamic agents. Specifically, safe and time efficient navigation may require (i) predictive modeling of agents with unknown intents (e.g., goals), and (ii) cooperative collision-free motion planning. These issues are not only hard research problems individually, but also tightly coupled since the nearby agents' motion could be affected by the vehicle's choice of action. This work focuses on the interplay between prediction and planning, and presents novel algorithmic approaches while considering various challenges arising from perceptual and computational limitations. First, a motion modeling framework is developed, which learns from data a set of commonly exhibited local motion patterns and the associated transition probabilities. This framework is designed to work with real data from onboard sensors, such as noisy position measurements and fragmented trajectory tracks due to sensor occlusion. Second, a multi-query path planning algorithm is presented, which computes a domain-specific similarity metric by learning the map's geometry. The algorithm not only enables quick local re-planning in response to frequent changes in the environment, but also allows for finding homotopically distinct paths at the route level. Third, a method for decentralized multiagent collision avoidance is developed, which uses reinforcement learning to generate a computationally efficient policy that encodes cooperative behaviors. Moreover, this approach is extended to capture subtle human navigation norms, such as passing on the right and overtaking on the left. The proposed methods are tested on hardware, and are shown to enable fully autonomous navigation at the average human walking pace through a pedestrian-rich environment.

Download or read book Mobile Robot Motion Control and Path Planning written by Ahmad Taher Azar and published by Springer Nature. This book was released on 2023-06-30 with total page 670 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the recent research advances in linear and nonlinear control techniques. From both a theoretical and practical standpoint, motion planning and related control challenges are key parts of robotics. Indeed, the literature on the planning of geometric paths and the generation of time-based trajectories, while accounting for the compatibility of such paths and trajectories with the kinematic and dynamic constraints of a manipulator or a mobile vehicle, is extensive and rich in historical references. Path planning is vital and critical for many different types of robotics, including autonomous vehicles, multiple robots, and robot arms. In the case of multiple robot route planning, it is critical to produce a safe path that avoids colliding with objects or other robots. When designing a safe path for an aerial or underwater robot, the 3D environment must be considered. As the number of degrees of freedom on a robot arm increases, so does the difficulty of path planning. As a result, safe pathways for high-dimensional systems must be developed in a timely manner. Nonetheless, modern robotic applications, particularly those requiring one or more robots to operate in a dynamic environment (e.g., human–robot collaboration and physical interaction, surveillance, or exploration of unknown spaces with mobile agents, etc.), pose new and exciting challenges to researchers and practitioners. For instance, planning a robot's motion in a dynamic environment necessitates the real-time and online execution of difficult computational operations. The development of efficient solutions for such real-time computations, which could be offered by specially designed computational architectures, optimized algorithms, and other unique contributions, is thus a critical step in the advancement of present and future-oriented robotics.

Download or read book Agent Based Models of Geographical Systems written by Alison J. Heppenstall and published by Springer Science & Business Media. This book was released on 2011-11-24 with total page 747 pages. Available in PDF, EPUB and Kindle. Book excerpt: This unique book brings together a comprehensive set of papers on the background, theory, technical issues and applications of agent-based modelling (ABM) within geographical systems. This collection of papers is an invaluable reference point for the experienced agent-based modeller as well those new to the area. Specific geographical issues such as handling scale and space are dealt with as well as practical advice from leading experts about designing and creating ABMs, handling complexity, visualising and validating model outputs. With contributions from many of the world’s leading research institutions, the latest applied research (micro and macro applications) from around the globe exemplify what can be achieved in geographical context. This book is relevant to researchers, postgraduate and advanced undergraduate students, and professionals in the areas of quantitative geography, spatial analysis, spatial modelling, social simulation modelling and geographical information sciences.

Download or read book Motion Planning Algorithms for a Group of Mobile Agents written by Mayank Lal and published by . This book was released on 2008 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Building autonomous mobile agents has been a major research effort for a while with cooperative mobile robotics receiving a lot of attention in recent times. Motion planning is a critical problem in deploying autonomous agents. In this research we have developed two novel global motion planning schemes for a group of mobile agents which eliminate some of the disadvantages of the current methods available. The first is the homotopy method in which the planning is done in polynomial space. In this method the position in local frame of each mobile agent is mapped to a complex number and a time varying polynomial contains information regarding the current positions of all mobile agents, the degree of the polynomial being the number of mobile agents and the roots of the polynomial representing the position in local frame of the mobile agents at a given time. This polynomial is constructed by finding a path parameterized in time from the initial to the goal polynomial (represent the initial and goal positions in local frame of the mobile agents) so that the discriminant variety or the set of polynomials with multiple roots is avoided in polynomial space. This is equivalent to saying that there is no collision between any two agents in going from initial position to goal position. The second is the homogeneous deformation method. It is based on continuum theory for motion of deformable bodies. In this method a swarm of vehicles is considered at rest in an initial configuration with no restrictions on the initial shape or the locations of the vehicles within that shape. A motion plan is developed to move this swarm of vehicles from the initial configuration to a new configuration such that there are no collisions between any vehicles at any time instant. It is achieved via a linear map between the initial and desired final configuration such that the map is invertible at all times. Both the methods proposed are computationally attractive. Also they facilitate motion coordination between groups of mobile agents with limited or no sensing and communication.

Download or read book Advances in Service and Industrial Robotics written by Saïd Zeghloul and published by Springer Nature. This book was released on 2020-06-18 with total page 609 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book gathers contributions by researchers from several countries on all major areas of robotic research, development and innovation, as well as new applications and current trends. The topics covered include: novel designs and applications of robotic systems, intelligent cooperating and service robots, advanced robot control, human-robot interfaces, robot vision systems, mobile robots, humanoid and walking robots, bio-inspired and swarm robotic systems, aerial, underwater and spatial robots, robots for ambient assisted living, medical robots and bionic prostheses, cognitive robots, cloud robotics, ethical and social issues in robotics, etc. Given its scope, the book offers a source of information and inspiration for researchers seeking to improve their work and gather new ideas for future developments. The contents reflect the outcomes of the activities of RAAD (International Conference on Robotics in Alpe-Adria-Danube Region) in 2020.

Download or read book Intelligent Autonomous Systems 18 written by Soon-Geul Lee and published by Springer Nature. This book was released on with total page 461 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Interactive Motion Planning Among Decision making Agents written by Martin Markus Rufli and published by . This book was released on 2012 with total page 133 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Motion in Games written by Arjan Egges and published by Springer Science & Business Media. This book was released on 2008-11-19 with total page 265 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the thoroughly refereed post-workshop proceedings of the First International Workshop on Motion in Games, held in Utrecht, The Netherlands, during June 14-17, 2008, in collaboration with the NLGD Festival of Games. The 24 revised papers presented during the workshop cover topics on crowd simulation; virtual humans; motion synthesis; interfaces; navigation and steering; and facial and behavioral animation.

Download or read book Advances in Intelligent Traffic and Transportation Systems written by M. Shafik and published by IOS Press. This book was released on 2023-04-25 with total page 184 pages. Available in PDF, EPUB and Kindle. Book excerpt: Intelligent traffic and transport systems combine the skills and management technologies of engineering, artificial intelligence, information technology and telecommunications to improve the efficiency of traffic and transport, benefitting the environment by reducing air and noise pollution and helping to create traffic free zones in cities. The management of public transport systems and vehicle fleets can also be improved by the provision of on-line information and better communication. This book presents the proceedings of ICITT2022, the 6th International Conference on Intelligent Traffic and Transportation, held in Paris, France from 25 – 27 September 2022. ICITT is a major annual event for the academics, researchers and industrialists engaged in intelligent traffic and transportation research, and is a friendly and inclusive platform that brings together a broad community of researchers sharing the common goal of developing and managing the engineering and technology key to sustaining the success of the intelligent traffic and transportation industries. The theme of the 2022 conference was Smart Digital Traffic and Transportation, and the book includes 15 papers, selected after a rigorous peer-review process. The papers are divided into 4 sections, which cover intelligent traffic and transportation; transportation in future smart cities; mobility and cyber-physical systems; and intelligent automation and ICT-enabled collaborative global systems. Covering a wide range of topics, the book will be of interest to all those working in the field of intelligent traffic and transportation.