In this paper, we provide an extension to our previous approach [1] to perform obstacle avoidance in the presence of multiple fast moving and rotating obstacles. Our approach leverage on the notion of DS to generate robot motions that are inherently robust to perturbations and can instantly adapt to changes in the target and obstacles’ positions in a dynamically moving environments. We validate...

In this paper we investigate feedback laws used to control multiple robots moving together in a formation. We propose a method for controlling formations that uses only local sensor-based information, in a leader-follower motion. We use methods of feedback linearization to exponentially stabilize the relative distance and orientation of the follower, and show that the zero dynamics of the syste...

We study the critical energy dissipation in an atomic superfluid gas with two symmetric spin components by oscillating magnetic obstacle. Above a certain oscillation frequency, spin-wave excitations are generated obstacle, demonstrating behavior of system. When obstacle is strong enough to cause density perturbations via local saturation polarization, half-quantum vortices (HQVs) created for hi...

Identifying collision-free trajectories in environments with dynamic obstacles is a significant challenge. However, many pertinent problems occur in dynamic environments, e.g., flight coordination, satellite navigation, autonomous driving, and household robotics. Stochastic reachable (SR) sets assure collision-free trajectories with a certain likelihood in dynamic environments, but are infeasib...

A vision-based fuzzy obstacle avoidance method is designed and implemented on a humanoid robot so that it can avoid obstacles successfully and arrive at the terminal area effectively. A humanoid robot with 23 degrees of freedom is implemented so that it can execute six basic walking motions. One vision system and one electronic compass are installed on the robot to obtain the environment inform...

We present three-dimensional dynamic Monte Carlo simulations of the growth of a semiflexible fiber against a fluctuating obstacle. The natural reference for our numerical study are the elastic and Brownian ratchet models previously analyzed semianalytically. We find that the decay of the velocity versus applied load is exponential to a good degree of accuracy, provided we include in the load th...