Download or read book On line Planning of Collision Free Trajectories in Dynamic and Uncertain Environments written by Ferit Yegenoglu and published by . This book was released on 1989 with total page 138 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Intelligent Autonomous Systems 16 written by Marcelo H. Ang Jr and published by Springer Nature. This book was released on 2022-04-07 with total page 734 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the latest advances and research achievements in the fields of autonomous robots and intelligent systems, presented at the IAS-16 conference, conducted virtually in Singapore, from 22 to 25 June 2021. IAS is a common platform for an exchange and sharing of ideas among the international scientific research and technical community on some of the main trends of robotics and autonomous systems: navigation, machine learning, computer vision, control, and robot design—as well as a wide range of applications. IAS-16 reflects the rise of machine learning and deep learning developments in the robotics field, as employed in a variety of applications and systems. All contributions were selected using a rigorous peer-reviewed process to ensure their scientific quality. Despite the challenge of organising a conference during a pandemic, the IAS biennial conference remains an essential venue for the robotics and autonomous systems community ever since its inception in 1986. Chapters 46 of this book is available open access under a CC BY 4.0 license at link.springer.com

Download or read book On Line Trajectory Generation in Robotic Systems written by Torsten Kröger and published by Springer. This book was released on 2010-01-10 with total page 236 pages. Available in PDF, EPUB and Kindle. Book excerpt: By the dawn of the new millennium, robotics has undergone a major tra- formation in scope and dimensions. This expansion has been brought about bythematurityofthe?eldandtheadvancesinitsrelatedtechnologies.From a largely dominant industrial focus, robotics has been rapidly expanding into the challenges of the human world. The new generation of robots is expected to safely and dependably co-habitat with humans in homes, workplaces, and communities,providingsupportinservices,entertainment,education,heal- care, manufacturing, and assistance. Beyond its impact on physical robots, the body of knowledge robotics has produced is revealing a much wider range of applications reaching across - verse research areas and scienti?c disciplines, such as: biomechanics, haptics, neurosciences, virtual simulation, animation, surgery, and sensor networks among others. In return, the challenges of the new emerging areas are pr- ing an abundant source of stimulation and insights for the ?eld of robotics. It is indeed at the intersection of disciplines that the most striking advances happen. The goal of the series of Springer Tracts in Advanced Robotics (STAR) is to bring, in a timely fashion, the latest advances and developments in robotics on the basis of their signi?cance and quality. It is our hope that the wider dissemination of research developments will stimulate more exchanges and collaborations among the research community and contribute to further advancement of this rapidly growing ?eld.

Download or read book Trajectory Planning of an Autonomous Vehicle in Multi Vehicle Traffic Scenarios written by Mahdi Morsali and published by Linköping University Electronic Press. This book was released on 2021-03-25 with total page 25 pages. Available in PDF, EPUB and Kindle. Book excerpt: Tremendous industrial and academic progress and investments have been made in au-tonomous driving, but still many aspects are unknown and require further investigation,development and testing. A key part of an autonomous driving system is an efficient plan-ning algorithm with potential to reduce accidents, or even unpleasant and stressful drivingexperience. A higher degree of automated planning also makes it possible to have a betterenergy management strategy with improved performance through analysis of surroundingenvironment of autonomous vehicles and taking action in a timely manner. This thesis deals with planning of autonomous vehicles in different urban scenarios, road,and vehicle conditions. The main concerns in designing the planning algorithms, are realtime capability, safety and comfort. The planning algorithms developed in this thesis aretested in simulation traffic situations with multiple moving vehicles as obstacles. The re-search conducted in this thesis falls mainly into two parts, the first part investigates decou-pled trajectory planning algorithms with a focus on speed planning, and the second sectionexplores different coupled planning algorithms in spatiotemporal environments where pathand speed are calculated simultaneously. Additionally, a behavioral analysis is carried outto evaluate different tactical maneuvers the autonomous vehicle can have considering theinitial states of the ego and surrounding vehicles. Particularly relevant for heavy duty vehicles, the issues addressed in designing a safe speedplanner in the first part are road conditions such as banking, friction, road curvature andvehicle characteristics. The vehicle constraints on acceleration, jerk, steering, steer ratelimitations and other safety limitations such as rollover are further considerations in speedplanning algorithms. For real time purposes, a minimum working roll model is identified us-ing roll angle and lateral acceleration data collected in a heavy duty truck. In the decoupledplanners, collision avoiding is treated using a search and optimization based planner. In an autonomous vehicle, the structure of the road network is known to the vehicle throughmapping applications. Therefore, this key property can be used in planning algorithms toincrease efficiency. The second part of the thesis, is focused on handling moving obstaclesin a spatiotemporal environment and collision-free planning in complex urban structures.Spatiotemporal planning holds the benefits of exhaustive search and has advantages com-pared to decoupled planning, but the search space in spatiotemporal planning is complex.Support vector machine is used to simplify the search problem to make it more efficient.A SVM classifies the surrounding obstacles into two categories and efficiently calculate anobstacle free region for the ego vehicle. The formulation achieved by solving SVM, con-tains information about the initial point, destination, stationary and moving obstacles.These features, combined with smoothness property of the Gaussian kernel used in SVMformulation is proven to be able to solve complex planning missions in a safe way. Here, three algorithms are developed by taking advantages of SVM formulation, a greedysearch algorithm, an A* lattice based planner and a geometrical based planner. One general property used in all three algorithms is reduced search space through using SVM. In A*lattice based planner, significant improvement in calculation time, is achieved by using theinformation from SVM formulation to calculate a heuristic for planning. Using this heuristic,the planning algorithm treats a simple driving scenario and a complex urban structureequal, as the structure of the road network is included in SVM solution. Inspired byobserving significant improvements in calculation time using SVM heuristic and combiningthe collision information from SVM surfaces and smoothness property, a geometrical planneris proposed that leads to further improvements in calculation time. Realistic driving scenarios such as roundabouts, intersections and takeover maneuvers areused, to test the performance of the proposed algorithms in simulation. Different roadconditions with large banking, low friction and high curvature, and vehicles prone to safetyissues, specially rollover, are evaluated to calculate the speed profile limits. The trajectoriesachieved by the proposed algorithms are compared to profiles calculated by optimal controlsolutions.

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 Real time Trajectory Planning for Ground and Aerial Vehicles in a Dynamic Environment written by Jian Yang and published by . This book was released on 2008 with total page 121 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this dissertation, a novel and generic solution of trajectory generation is developed and evaluated for ground and aerial vehicles in a dynamic environment. By explicitly considering a kinematic model of the ground vehicles, the family of feasible trajectories and their corresponding steering controls are derived in a closed form and are expressed in terms of one adjustable parameter for the purpose of collision avoidance. A collision-avoidance condition is developed for the dynamically changing environment, which consists of a time criterion and a geometrical criterion. By imposing this condition, one can determine a family of collision-free paths in a closed form. Then, optimization problems with respect to different performance indices are setup to obtain optimal solutions from the feasible trajectories. Among these solutions, one with respect to the near-shortest distance and another with respect to the near-minimal control energy are analytical and simple. These properties make them good choices for real-time trajectory planning. Such optimal paths meet all boundary conditions, are twice differentiable, and can be updated in real time once a change in the environment is detected. Then this novel method is extended to 3D space to find a real-time optimal path for aerial vehicles. After that, to reflect the real applications, obstacles are classified to two types: "hard" obstacles that must be avoided, and "soft" obstacles that can be run over/through. Moreover, without losing generality, avoidance criteria are extended to obstacles with any geometric shapes. This dissertation also points out that the emphases of the future work are to consider other constraints such as the bounded velocity and so on. The proposed method is illustrated by computer simulations.

Download or read book Proceedings of 2022 International Conference on Autonomous Unmanned Systems ICAUS 2022 written by Wenxing Fu and published by Springer Nature. This book was released on 2023-03-10 with total page 3985 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book includes original, peer-reviewed research papers from the ICAUS 2022, which offers a unique and interesting platform for scientists, engineers and practitioners throughout the world to present and share their most recent research and innovative ideas. The aim of the ICAUS 2022 is to stimulate researchers active in the areas pertinent to intelligent unmanned systems. The topics covered include but are not limited to Unmanned Aerial/Ground/Surface/Underwater Systems, Robotic, Autonomous Control/Navigation and Positioning/ Architecture, Energy and Task Planning and Effectiveness Evaluation Technologies, Artificial Intelligence Algorithm/Bionic Technology and Its Application in Unmanned Systems. The papers showcased here share the latest findings on Unmanned Systems, Robotics, Automation, Intelligent Systems, Control Systems, Integrated Networks, Modeling and Simulation. It makes the book a valuable asset for researchers, engineers, and university students alike.

Download or read book An On line Method for Collision free Trajectory Planning written by Feng Dong and published by . This book was released on 1992 with total page 182 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Planning Algorithms written by Steven M. LaValle and published by Cambridge University Press. This book was released on 2006-05-29 with total page 844 pages. Available in PDF, EPUB and Kindle. Book excerpt: Planning algorithms are impacting technical disciplines and industries around the world, including robotics, computer-aided design, manufacturing, computer graphics, aerospace applications, drug design, and protein folding. Written for computer scientists and engineers with interests in artificial intelligence, robotics, or control theory, this is the only book on this topic that tightly integrates a vast body of literature from several fields into a coherent source for teaching and reference in a wide variety of applications. Difficult mathematical material is explained through hundreds of examples and illustrations.

Download or read book Collected Papers Volume V written by Florentin Smarandache and published by Infinite Study. This book was released on 2014-09-01 with total page 336 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume includes 37 papers of mathematics or applied mathematics written by the author alone or in collaboration with the following co-authors: Cătălin Barbu, Mihály Bencze, Octavian Cira, Marian Niţu, Ion Pătraşcu, Mircea E. Şelariu, Rajan Alex, Xingsen Li, Tudor Păroiu, Luige Vlădăreanu, Victor Vlădăreanu, Ştefan Vlăduţescu, Yingjie Tian, Mohd Anasri, Lucian Căpitanu, Valeri Kroumov, Kimihiro Okuyama, Gabriela Tonţ, A. A. Adewara, Manoj K. Chaudhary, Mukesh Kumar, Sachin Malik, Alka Mittal, Neetish Sharma, Rakesh K. Shukla, Ashish K. Singh, Jayant Singh, Rajesh Singh,V.V. Singh, Hansraj Yadav, Amit Bhaghel, Dipti Chauhan, V. Christianto, Priti Singh, and Dmitri Rabounski. They were written during the years 2010-2014, about the hyperbolic Menelaus theorem in the Poincare disc of hyperbolic geometry, and the Menelaus theorem for quadrilaterals in hyperbolic geometry, about some properties of the harmonic quadrilateral related to triangle simedians and to Apollonius circles, about Luhn prime numbers, and also about the correspondences of the eccentric mathematics of cardinal and integral functions and centric mathematics, or ordinary mathematics; there are some notes on Crittenden and Vanden Eynden's conjecture, or on new transformations, previously non-existent in traditional mathematics, that we call centric mathematics (CM), but that became possible due to the new born eccentric mathematics, and, implicitly, to the supermathematics (SM); also, about extenics, in general, and extension innovation model and knowledge management, in particular, about advanced methods for solving contradictory problems of hybrid position-force control of the movement of walking robots by applying a 2D Extension Set, or about the notion of point-set position indicator and that of point-two sets position indicator, and the navigation of mobile robots in non-stationary and nonstructured environments; about applications in statistics, such as estimators based on geometric and harmonic mean for estimating population mean using information; about Godel’s incompleteness theorem(s) and plausible implications to artificial intelligence/life and human mind, and many more.

Download or read book Decentralized Multiagent Trajectory Planning in Real world Environments written by Kota Kondo and published by . This book was released on 2023 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: In the rapidly evolving domain of unmanned aerial vehicle (UAV) applications, multiagent trajectory planning plays an indispensable role. The applications encompass search and rescue missions, surveillance, package delivery, and more. Each of these scenarios necessitates intricate coordination amongst multiple UAVs, driving the need for sophisticated multiagent trajectory planning. Although many centralized trajectory planners exist, they hinge on a single entity for trajectory planning, making them less scalable and challenging to deploy in real-world environments. To address this hurdle, the focus has shifted towards decentralized multiagent trajectory planners, where each agent independently plans its trajectory. In this thesis, we introduce two novel approaches --Robust MADER (RMADER) and PRIMER, aiming at further advancing the field of decentralized multiagent trajectory planning for UAVs. One of the primary hurdles in achieving a multiagent trajectory planner lies in the development of a system that is both scalable and robust, and can be effectively deployed in real-world environments. These environments present numerous challenges, including communication delays and dynamically moving obstacles. To counter these hurdles, we propose RMADER, a decentralized, asynchronous multiagent trajectory planner. RMADER is designed to be robust to communication delays by introducing (1) a delay check step and (2) a two-step trajectory-sharing scheme. RMADER guarantees safety by always keeping a collision-free trajectory and performing a delay check step, even under communication delay. To evaluate RMADER, we performed extensive benchmark studies against state-of-the-art trajectory planners and flight experiments using a decentralized communication architecture called a mesh network with multiple UAVs in dynamic environments. The results demonstrate RMADER's robustness and capability to carry out collision avoidance in dynamic environments, outperforming existing state-of-the-art methods with a 100% collision-free success rate. While RMADER achieves highly scalable and robust multiagent trajectory planning, it requires agents to communicate to share their future trajectories. However, due to localization errors/uncertainties, trajectory deconfliction can fail even if trajectories are perfectly shared between agents. To address this issue, we first present PARM and PARM*, perception-aware, decentralized, asynchronous multiagent trajectory planners that enable a team of agents to navigate uncertain environments while deconflicting trajectories and avoiding obstacles using perception information. PARM* differs from PARM as it is less conservative, using more variables to find closer-to-optimal solutions. Though these methods achieve state-of-the-art performance, they suffer from high computational costs as they need to solve large optimization problems onboard, making it difficult for agents to replan at high rates. To overcome this challenge, we present PRIMER, a learning-based planner trained with imitation learning (IL) using PARM* as the expert demonstrator. PRIMER leverages the low computational requirements at deployment of neural networks and achieves much faster computation speed than optimization-based approaches. In summary, this thesis puts forth RMADER and PRIMER as innovative solutions in the realm of decentralized multiagent trajectory planning, enhancing scalability, robustness, and deployability in real-world UAV applications.

Download or read book Geometric Methods for the Planning Control and Estimation of Free flying Autonomous Systems written by Michael Watterson and published by . This book was released on 2018 with total page 410 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous aerial robots navigating in uncertain environments have a wide variety of applications, including inspection, search and rescue, inventory localization, sports photography, entertainment, package delivery, and national security. These dynamical systems have configuration spaces with non-trivial geometry but are often modeled with restrictions to their configuration space to simplify the geometry. Instead, we leverage techniques for differential geometry and Lie algebra to model the intrinsic geometry of these robots correctly and in a coordinate-free fashion. Using these models, we tackle problems in planning, control, and estimation with the goal of efficient computationally limited onboard implementation for real systems.Trajectory generation for robots in cluttered environments requires enforcing of collision free constraints. We utilize tools from computational geometry to model obstacles and formulate useful convex partitions of free space. Targeting on-line applications, these modeling methods are co-designed with the optimization-based formulations to be able to enable real-time planning through unknown environments without offboard sensing or computation. We use convex and non-convex optimization approaches to solve for dynamically feasible trajectories in Rn, Lie groups SO(3), SE(3), and smooth manifolds. Using a variety of sensor models, we use environment observations to build representations which allows us to enforce collision free constraints in these optimization formulations using convex approximations. We address how to use multiple charts to represent these manifolds and how to control and estimate the states of robots with this representation. These methods are applied to free flying systems such as a myriad of quadrotor platforms with under actuated dynamics and a free flying space robot with over actuated dynamics.

Download or read book Cooperative Control of Dynamical Systems written by Zhihua Qu and published by Springer Science & Business Media. This book was released on 2009-02-07 with total page 335 pages. Available in PDF, EPUB and Kindle. Book excerpt: Stability theory has allowed us to study both qualitative and quantitative properties of dynamical systems, and control theory has played a key role in designing numerous systems. Contemporary sensing and communication n- works enable collection and subscription of geographically-distributed inf- mation and such information can be used to enhance signi?cantly the perf- manceofmanyofexisting systems. Throughasharedsensing/communication network,heterogeneoussystemscannowbecontrolledtooperaterobustlyand autonomously; cooperative control is to make the systems act as one group and exhibit certain cooperative behavior, and it must be pliable to physical and environmental constraints as well as be robust to intermittency, latency and changing patterns of the information ?ow in the network. This book attempts to provide a detailed coverage on the tools of and the results on analyzing and synthesizing cooperative systems. Dynamical systems under consideration can be either continuous-time or discrete-time, either linear or non-linear, and either unconstrained or constrained. Technical contents of the book are divided into three parts. The ?rst part consists of Chapters 1, 2, and 4. Chapter 1 provides an overview of coope- tive behaviors, kinematical and dynamical modeling approaches, and typical vehicle models. Chapter 2 contains a review of standard analysis and design tools in both linear control theory and non-linear control theory. Chapter 4 is a focused treatment of non-negativematrices and their properties,multipli- tive sequence convergence of non-negative and row-stochastic matrices, and the presence of these matrices and sequences in linear cooperative systems.

Download or read book Low latency Trajectory Planning for High speed Navigation in Unknown Environments written by Brett Thomas Lopez and published by . This book was released on 2016 with total page 109 pages. Available in PDF, EPUB and Kindle. Book excerpt: The ability for quadrotors to navigate autonomously through unknown, cluttered environments at high-speeds is still an open problem in the robotics community. Advancements in light-weight, small form factor computing has allowed the application of state-of-the-art perception and planning algorithms to the high-speed navigation problem. However, many of the existing algorithms are computationally intensive and rely on building a dense map of the environment. Computational complexity and map building are the main sources of latency in autonomous systems and ultimately limit the top speed of the vehicle. This thesis presents an integrated perception, planning, and control system that addresses the aforementioned limitations by using instantaneous perception data instead of building a map. From the instantaneous data, a clustering algorithm identifies and ranks regions of space the vehicle can potentially traverse. A minimum-time, state and input constrained trajectory is generated for each cluster until a collision-free trajectory is found (if one exists). Relaxing position constraints reduces the planning problem to finding the switching times for the minimum-time optimal solution, something that can be done in microseconds. Our approach generates collision-free trajectories within a millisecond of receiving perception data. This is two orders of magnitude faster than current state-of-the art systems. We demonstrate our approach in environments with varying degrees of clutter and at different speeds.

Download or read book Motion Planning written by Xj Jing and published by BoD – Books on Demand. This book was released on 2008-06-01 with total page 610 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this book, new results or developments from different research backgrounds and application fields are put together to provide a wide and useful viewpoint on these headed research problems mentioned above, focused on the motion planning problem of mobile ro-bots. These results cover a large range of the problems that are frequently encountered in the motion planning of mobile robots both in theoretical methods and practical applications including obstacle avoidance methods, navigation and localization techniques, environmental modelling or map building methods, and vision signal processing etc. Different methods such as potential fields, reactive behaviours, neural-fuzzy based methods, motion control methods and so on are studied. Through this book and its references, the reader will definitely be able to get a thorough overview on the current research results for this specific topic in robotics. The book is intended for the readers who are interested and active in the field of robotics and especially for those who want to study and develop their own methods in motion/path planning or control for an intelligent robotic system.

Download or read book Web Based Control and Robotics Education written by Spyros G. Tzafestas and published by Springer Science & Business Media. This book was released on 2009-07-31 with total page 362 pages. Available in PDF, EPUB and Kindle. Book excerpt: For the things we have to learn before we can do them, we learn by doing them. Aristotle Teaching should be such that what is offered is perceived as a valuable gift and not as a hard duty. Albert Einstein The second most important job in the world, second only to being a good parent, is being a good teacher. S.G. Ellis The fast technological changes and the resulting shifts of market conditions require the development and use of educational methodologies and opportunities with moderate economic demands. Currently, there is an increasing number of edu- tional institutes that respond to this challenge through the creation and adoption of distance education programs in which the teachers and students are separated by physical distance. It has been verified in many cases that, with the proper methods and tools, teaching and learning at a distance can be as effective as traditional fa- to-face instruction. Today, distance education is primarily performed through the Internet, which is the biggest and most powerful computer network of the World, and the World Wide Web (WWW), which is an effective front-end to the Internet and allows the Internet users to uniformly access a large repertory of resources (text, data, images, sound, video, etc.) available on the Internet.

Download or read book Computational Intelligence written by Kurosh Madani and published by Springer. This book was released on 2014-10-16 with total page 333 pages. Available in PDF, EPUB and Kindle. Book excerpt: The present book includes extended and revised versions of a set of selected papers from the Fourth International Joint Conference on Computational Intelligence (IJCCI 2012)., held in Barcelona, Spain, from 5 to 7 October, 2012. The conference was sponsored by the Institute for Systems and Technologies of Information, Control and Communication (INSTICC) and was organized in cooperation with the Association for the Advancement of Artificial Intelligence (AAAI). The conference brought together researchers, engineers and practitioners in computational technologies, especially those related to the areas of fuzzy computation, evolutionary computation and neural computation. It is composed of three co-located conferences, each one specialized in one of the aforementioned -knowledge areas. Namely: - International Conference on Evolutionary Computation Theory and Applications (ECTA) - International Conference on Fuzzy Computation Theory and Applications (FCTA) - International Conference on Neural Computation Theory and Applications (NCTA) Recent progresses in scientific developments and applications in these three areas are reported in this book This book includes revised and extended versions of a strict selection of the best papers presented at the conference.