In this paper, a novel describing method of human locomotion trajectory record was proposed, and methods of its application to the path planning and control of human-symbiotic mobile robots were indicated. The novel describing method, named as Existence Record Probability Map (abbreviated ERPM hereafter), was generated through the following three steps: 1) measuring human locomotion path using ...

The problem of automatic collision-free path planning is central to mobile robot applications. An approach to automatic path planning based on a quadtree representation is presented. Hierarchical path-searching methods are introduced, which make use of this multireso-lution representation, to speed up the path planning process considerably. The applicability of this approach to mobile robot pat...

This paper presents an approach to collision avoidance for mobile robots that uses local path planning within a map built from the robot’s latest range measurements followed by a search for control commands to steer the robot towards the goal safely and efficiently. While the search for control commands allows to take the robot’s dynamics into account and therefore allows for very smooth naviga...

The paper presents a framework for tracked vehicle 3D path planning in rough areas, with dynamic obstacles. The framework provides methods for real-time point cloud interpretation, segmentation and traversabilty analysis tacking also into account changes such as dynamic obstacles and provides a terrain structure interpretation. Moreover the paper presents R2A an extended version of randomized A...

This paper proposes a novel representation of the free space of mobile robot by distinct, non-overlapping regions called Edge Visibility Regions (EVRs). An algorithm to partition the free space into EVRs from a given stored world model is presented. The EVRs have the property of capturing the geometric relations between the features in the world model with respect to their visibility from diffe...

A tight coupling between perception and manipulation is required for dynamic robots to react in a timely and appropriate manner to changes in the world. In conventional robotics, perception transforms visual information into internal models which are used by planning algorithms to generate trajectories for motion. Under this paradigm, it is possible for a plan to become stale if the robot or en...

To realize humanoid robots in unknown environment, sensor based navigation system is required as one of an essential function. This paper describes visionbased navigation system for humanoid robots, which has

Many motion planning algorithms use Morse functions to characterize the free space. Speci cally, these algorithms look at the critical points of a Morse function to denote the topological changes in the free space. This paper introduces methods to sense critical points and ensure all critical points are \seen" by a coverage algorithm. Experimental results performed on a mobile robot are also pr...

Analysis of the power consumption for walking and running robots is particularly important for trajectory planning tasks as it enables motion plans that minimize energy consumption and do not violate power limitations of the robot actuators. This paper builds upon previous work on wheeled skid-steered robots, and for curvilinear motion of the XRL hexapedal robot, presents models of the inner an...

Learning skills while interacting with human users allows robots to work in human environments and become efficient when performing everyday tasks. This paper presents a method of analyzing data obtained from human demonstrations of a task in order to: (a) extract specific constraints for each part of the task (important variables, the frame of reference to be used, and the most suitable contro...