Challenges persist in nonholonomic robot navigation for dynamic environments. This paper presents a framework for nonholonomic robot navigation in dynamic environment based on the model of Generalized Velocity Obstacles (GVO). The idea of velocity obstacles has been well studied and developed for obstacle avoidance since proposed in 1998. Though proved to be successful, most studies assume equa...

This paper presents an obstacle avoidance control strategy for underactuated quadrotor unmanned aerial vehicle with motor loss-of-effectiveness fault and disturbance. The system is divided into two parts: the loop tracking loop. By introducing height factor in artificial potential field function, improved designed Compared existing literature, proposed can avoid falling trap of local optimum wh...

Introduction Planning collision-free paths is one of the basic skills for a mobile robot performing a goal-oriented task. Especially in highly dynamic environments such as robot soccer there is a need for smooth navigation avoiding the cooperating and competing players. Today, robots in RoboCup [5] are moving at speeds of up to 3 m/s. Navigation thus requires real time path planning considering...

With the arrival of simple, efficient and safe interferon-free treatment regimens, hepatitis C virus (HCV) therapy will have the potential to be successfully used for the majority of infected patients and prevent the associated morbidity and mortality. With the current treatment uptake rates, only a very small proportion of HCV-infected patients are reached. Paradoxically, treatment rates are l...

Geographic routing is becoming the protocol of choice for many sensor network applications. The current state of the art is unsatisfactory: some algorithms are very efficient, however they require a preliminary planarization of the communication graph. Planarization induces overhead and is not realistic in many scenarios. On the other hand, georouting algorithms which do not rely on planarizati...

This paper presents a model predictive approach for obstacle avoidance of carlike unmanned ground vehicles (UGVs). An optimal tracking problem while avoiding obstacles in unknown environments is formulated in terms of cost minimization under constraints. Information on obstacles can be incorporated online in the nonlinear model predictive framework and kinematic constraints are treated by Karus...

Multiple conceptualizations of the interrelation between assessment and learning yield three notions of assessment: assessment of learning, assessment for learning, and assessment as learning. This paper aims at uncovering roles and obstacles of assessment for learning and assessment as learning in English language classrooms in Hong Kong. Grounded upon the theory of constructivism and the noti...