Breakthrough Space Obstacle

DROAN - Disparity-space representation for obstacle AvoidaNce

Agile MAVs are required to operate in cluttered, unstructured environments at high speeds and low altitudes for efficient data gathering. Given the payload constraints and long range sensing requirements, cameras are the preferred sensing modality for MAVs. The computation burden of using cameras for obstacle sensing has forced the state of the art methods to construct world representations on ...

Obstacle evaluation of the configuration space for cylindrical manipulators

In this paper it is shown a practical method wich lets evaluate the full set of robot configurations that produce collisions between the environment and the cylindrical manipulator. The method is based on a sound mathematical formalism so the feasibility of the results is guaranteed. The application of the formalism is performed by means of choosing a suitable coordinate functions, in the works...

Extending obstacle avoidance methods through multiple parameter-space transformations

Obstacle avoidance methods approach the problem of mobile robot autonomous navigation by steering the robot in real-time according to the most recent sensor readings, being suitable to dynamic or unknown environments. However, real-time performance is commonly gained by ignoring the robot shape and some or all of its kinematic restrictions which may lead to poor navigation performance in many p...

Space Adaptive Finite Element Methods for Dynamic Obstacle Problems

Space-time separation during obstacle-avoidance learning in monkeys.

Is the movement duration time known before we move? To answer this question, a new experimental paradigm is introduced that for the first time monitors the acquisition of a new motor skill in rhesus monkeys. Straight reaches were interleaved with reaches around physical obstacles that elicited a different path geometry. Curved and longer spatial paths were immediately resolved and consistent ov...