To elucidate the nature of load sharing in the growth of multiple biopolymers, we perform stochastic simulations of the growth of biopolymer bundles against obstacles under a broad range of conditions and varying assumptions. The obstacle motion due to thermal fluctuations is treated explicitly. We assume the "Perfect Brownian Ratchet" (PBR) model, in which the polymerization rate equals the fr...

AbstractThis paper presents an intelligent navigation method for navigation of a mobile vehicle in unknown environments. The proposed navigator consists of three modules: Obstacle Avoidor, Environment Evaluator and Navigation Supervisor. The Obstacle Avoidor is a fuzzy controller whose rule base is learnt through reinforcement learning. A new and powerful training method is proposed to constru...

Obstacle detection is often the rst perceptual system we add to our mobile robots. After all, once the robot is moving around, constantly bumping into things doesn't make a very impressive demonstration of the robot's intellect . A simple solution is a contact sensor in the form of a bump switch or whisker, but this approach to obstacle detection is not very impressive and reminiscent of a blin...

In this paper a reactive local navigation system is presented, for an autonomous non-holonomic mobile robot navigating in dynamic environments. The reactive navigation system integrates an obstacle detection method [4] and a new reactive collision avoidance method. The sensory perception is based in a laser range finder (LRF) system. Simulation results are presented to verify the effectiveness ...

The robot Famez, a fast robot with a robust structure has been constructed to provide a flexible platform for studying autonomous agents. In this report, the robot is presented. Moreover, an obstacle avoidance control method involving only one (sonar) sensor is described. The main issue of the control scheme is that the robot has to find the proper steering direction to avoid an obstacle by uti...

In this paper we present a reeex-type behaviour for visual obstacle detection for mobile robots. The main assumption that is made, is that the robot is moving on a ground plane. For the speciic purpose of obstacle detection, it is then possible to design a simpliied vision system that can successfully solve the problem in hand. Under this purposive approach, there is no need to perform any reco...

On-Line Sub-Optimal Obstacle Avoidance Zvi Shiller Mechanical and Aerospace Engineering University of California Los Angeles, CA 90095 Abstract This paper presents an on-line planner for sub-optimal obstacle avoidance. It generates near-shortest paths incrementally by avoiding obstacles optimally one at a time. In known environments, obstacles are avoided in an order determined by a global crit...

We present a navigation algorithm, which integrates virtual obstacle concept with a potential-field-based method to maneuver cylindrical mobile robots in unknown or unstructured environments. This study focuses on the real-time feature of the navigation algorithm for fast moving mobile robots. We mainly consider the potential-field method in conjunction with virtual obstacle concept as the basi...

We use Sarnoff’s next-generation video processor, the PVT-200, to demonstrate real-time algorithms for stereo processing, obstacle detection, and terrain estimation from stereo cameras mounted on a moving vehicle. Sarnoff’s stereo processing and obstacle detection capabilities are currently being used in several Unmanned Ground Vehicle (UGV) programs, including MDARS-E and DEMO III. Sarnoff’s t...

This paper presents an online planner for suboptimal obstacle avoidance. It generates near-shortest paths incrementally by avoiding obstacles optimally one at a time. In known environments, obstacles are avoided in an order determined by a global criterion. In unknown environments, obstacles are avoided as they are detected by on-board sensors. This avoidance strategy is guaranteed to reach the...