Obstacle avoidance is a key technology of multiagents flocking control. However, most existing research studies assume that the agent can obtain global information about obstacles and have specific constraints on shape boundary obstacles, which easily limit their practical applications. To relax these constraints, we only perceive position obstacle points within its sensing radius propose an po...

PURPOSE Injuries from falls are a serious health issue. Approaches to preventing falls should consider increasing relevant visual information of an obstacle. Obstacle parameters, such as position and height, may be specified by the visible structure of an obstacle. The present study examined the relationship between visible structure of an obstacle and locomotor behaviour. This relationship may...

Complex structured environments offer fish advantages as places of refuge and areas of greater potential prey densities, but maneuvering through these environments is a navigational challenge. To successfully navigate complex habitats, fish must have sensory input relaying information about the proximity and size of obstacles. We investigated the role of the pectoral fins as mechanosensors in b...

Obstacle representations of graphs have been investigated quite intensely over the last few years. We focus on graphs that can be represented by a single obstacle. Given a (topologically open) polygon C and a finite set P of points in general position in the complement of C, the visibility graph GC(P ) has a vertex for each point in P and an edge pq for any two points p and q in P that can see ...

Depending on the capillary number at play and the parameters of the flow geometry, a drop may or may not break when colliding with an obstacle in a microdevice. Modeling the flow of one-dimensional trains of monodisperse drops impacting a micro-obstacle, we show numerically that complex dynamics may arise through drop-to-drop hydrodynamic interactions: we observe sequences of breakup events in ...

This paper presents a general framework for coordinated motion control of autonomous swarms in the presence of obstacles. The proposed framework judiciously combines concepts and techniques from potential flows, artificial potentials and dynamic connectivity to realize complex swarm behaviors. To begin with, existing concepts from potential flows in fluid mechanics are used to solve the single-...

Marine navigation involves problems not found on land. As well as fixed obstacles, there are objects whose positions change frequently. Apart from surface obstacle avoidance, a boat must contend with bathymetric depth, which is affected by sea floor and tidal changes. Maintenance of a dynamic data structure for automatic pilotage is a complex task. The dynamic Voronoi diagram of points and line...

In this paper, we present a feature based approach for monocular scene reconstruction based on extended Kalman filters (EKF). Our method processes a sequence of images taken by a single camera mounted frontal on a mobile robot. Using different techniques, we are able to produce a precise reconstruction that is free from outliers and therefore can be used for reliable obstacle detection. In real...

This paper proposes an efficient obstacle recognition system for helping the navigation of mobile robots. It is especially suitable to operate in connection with agent-based control architectures, for its suitability to be inserted in the whole control system. The capability of object recognition also allows defining more complex behaviors to be programmed, based on the recognition of some spec...