We consider the navigation problem of a robot from a starting point S to a target point T inside an unknown rectilinear polygon. The robot knows the directions of the points S and T and it can detect the edges of the polygon through its tactile sensors. We present a competitive strategy for the robot to reach the target T . The competitive ratio of our strategy is 6 4:5dðj 1Þðjþ 2Þ þOð1Þ, where...

In this study, exploration of unknown environments using LMS 200 Laser scanners with a team of multiple mobile robots is investigated. The aim is to investigate the ability of the cheap LMS 200 laser scanners to scan the environment and build its map. Furthermore, this study proposes two exploration algorithms to reduce the time required to explore a given environment using this type of laser s...

This paper presents a new adaptive impedance control strategy, based on Function Approximation Technique (FAT) to compensate for unknown non-flat environment shape or time-varying environment location. The target impedance in the force controllable direction is modified by incorporating adaptive compensators and the uncertainties are represented by FAT, allowing the update law to be derived eas...

To be useful in the real world, robots need to move safely in unstructured environments and achieve their given goals despite unexpected changes in their surroundings. The environments of real robots are rarely predictable or perfectly known so it does not make sense to make precise plans before moving. The robot navigation problem can be decomposed into the two problems of getting to a goal an...

We consider the problem of planning, on the fly, a path whereby a robotic vehicle will cover every point in an initially unknown spatial environment. We describe four strategies (Iterated WaveFront, Greedy-Scan, Delayed GreedyScan and Closest-First Scan) for generating cost-effective coverage plans in real time for unknown environments. We give theorems showing the correctness of our planning s...

We address an on-line version of the visibility-based pursuit-evasion problem. We take a minimalist approach in modeling the capabilities of a pursuer robot. A point pursuer moves in an unknown, simplyconnected, piecewise-smooth planar environment, and is given the task of locating any unpredictable, moving evaders that have unbounded speed. The evaders are assumed to be points that move contin...

We present a navigation and planning system using vision for extracting non predefined landmarks, a dead-reckoning system generating the integrated movement and a topological map. Localisation and planning remain possible even if the map is partially unknown. An omnidirectional camera gives a panoramic images from which unpredefined landmarks are extracted. The set of landmarks and their azimut...

In today's highly competitive industrial environment due to fast technology development, quality practitioners will to detect out-of-control situations and take actions whenever is necessary as soon as possible. Accordingly, new statistical procedures have been enhanced incessantly both to handle high yield processes along with looking for methods of minimizing all quality cost. CCC-r chart, th...

Exploration of unknown spaces is essential for the development of efficient orientation and mobility skills. Most of the information required for the exploration is gathered through the visual channel. Blind people lack this crucial information, facing in consequence difficulties in mapping as well as navigating spaces. The study reported here is based on the assumption that the supply of appro...