Differential flatness is a property which substantially reduces the difficulty involved in generating dynamically feasible trajectories for underactuated robotic systems. However, there is a large class of robotic systems that are not differentially flat, and an efficient method for computing dynamically feasible trajectories does not exist. In this paper we introduce a weaker but more general ...

Recent research has developed experimentally verified dynamic models for skid-steered wheeled vehicles and used these results to derive a power model for this important class of all-terrain vehicles. As presented in this paper, based on the torque limitations of the vehicle motors, the dynamic model can be used to develop payload and terrain-dependent minimum turn radius constraints and the pow...

background: the aim of this work was to study the feasibility of constructing a fast thorax model suitable for simulating lung motion due to respiration using only one ct dataset. materials and methods: for each of six patients with different thorax sizes, two sets of ct images were obtained in single-breath-hold inhale and exhale stages in the supine position. the ct images were then analyzed ...

We propose a principled method to create a search space for constrained motion planning, which efficiently encodes only feasible motion plans. The space of possible paths is encoded implicitly in the connections between states, but only feasible and only local connections are allowed. Furthermore, we propose a systematic method to generate a near-minimal set of spatially distinct motion alterna...

Background: A method to track liver tumor motion signals from fluoroscopic images without any implanted gold fiducial markers was proposed in this study to overcome the adverse effects on precise tumor irradiation caused by respiratory movement. Materials and Methods: The method was based on the following idea: (i) Before treatment, a series of fluoroscopic images corresponding to different bre...

In this work, we consider the problem of generating practically implementable path plan for flying unmanned aerial vehicles in 3D Complex environments. This problem is complicated by the fact that, generation of the dynamically and geometrically feasible flight trajectories for agile maneuver profiles requires search of nonlinear state space of the aircraft dynamics. This work suggests a two st...

We present an approach to the problem of differentially constrained mobile robot motion planning in arbitrary time-varying cost fields. We construct a special search space which is ideally suited to the requirements of dynamic environments including a) feasible motion plans that satisfy differential constraints, b) efficient plan repair at high update rates, and c) deliberative goal-directed be...

This paper develops an automatic parking algorithm based on a fuzzy logic controller with the vehicle pose for the input and the steering angle for the output. In this way some feasible reference trajectory path have been introduced according to geometric and kinematic constraints and nonholonomic constraints to simulate motion path of car. Also a novel method is used for parking space detec...