We present a novel approach to performing probabilistic collision detection between a high-DOF robot and imperfect obstacle representations in dynamic, uncertain environments. These uncertainties are modeled using Gaussian distributions. We present an efficient algorithm for bounded collision probability approximation. We use our probabilistic collision algorithm for trajectory optimization in ...

This paper presents a reactive/local level of an Obstacle Avoidance System for an Autonomous Underwater Vehicle (AUV). The specific requirements of the underwater world, the computational capacity and the sensors of the vehicle as well as its manoeuvrability were considered by the choice and the development of strategies used. Such requirements include the sea current information, the considera...

Autonomous locomotion is one of the most important ability for humanoid utilized in human working environment. Walking control system that follows the desired motion given online is designed with layered control architecture and implemented as a basic system of autonomous walking. Moving goal tracking function and reactive obstacle avoidance function are implemented using stereo vision system a...

An algorithm for simulating wind-ripples and moving sand is extended by the detection of fixed objects. This permits us simulation and animation of sand interacting with objects like houses, highways, cactuses, etc. Sand is accumulated on the windward side of an obstacle and the sand relocation and wind-ripples formation is diminished on the leeward side. The wind shadow depends on the object’s...

This paper describes the GOLD (Generic Obstacle and Lane Detection) system, a stereo vision-based hardware and software architecture developed to increment road safety of moving vehicles: it allows to detect both generic obstacles (without constraints on symmetry or shape) and the lane position in a structured environment (with painted lane markings). It has been implemented on the PAPRICA syst...

We consider the localization problem for a unicycle robot equipped with range finders and moving in environments with nonsmooth geometry, i.e., whose obstacle-free region has a piecewise-linear boundary. Using the Multi-Hypothesis Density Filter, a novel multi-modal estimator based on the bayesian framework, an innovative localization system is devised and implemented on the ATRV-Jr robot. Expe...

| This paper addresses trajectory planning for a robot subject to dynamic constraints and moving in a dynamic workspace. A car-like robot A with bounded velocity and acceleration, moving in a dynamic two-dimensional workspace is considered. The solution proposed is an extension of the path-velocity decomposition which is a practical way to address trajectory planning in dynamic workspaces. Howe...

Association for Artificial Intelligence Mobile Robot Competition and Exhibition featured robots trying to find and collect stationary and moving colored objects in an arena littered with real rocks. The 2day event had 11 entries participating in both single-robot and multirobot categories, both with and without manipulators. During the event, many of the robots successfully demonstrated object ...

Increasing endurance is a major challenge for battery-powered aerial vehicles. A method presented which makes use of an updraft around obstacles to decrease the power consumption fixed-wing unmanned vehicle. soaring flight controller has been developed that can autonomously soar while vehicle keeps its relative position moving object. Multiple simulations have performed analyse limitations unde...

This paper first presents a discussion of the reasoning and method for combining neural networks and fuzzy logic. The problem of moving a robotic arm in the presence of an obstacle is discussed. Several neuro-fuzzy controllers are trained using sample data obtained from a human’s control of a robotic arm. Their performance is quantified and compared. It is shown that the definition of the fuzzy...