This paper presents the design and implementation of a singularity-free tracking algorithm for robot manipulators using a hybrid system approach. A hybrid robot motion controller is designed to ensure feasible robot motion in the neighborhood of kinematic singularities. The hybrid control system has a two-layered hierarchical structure, a discrete layer and a continuous layer. The robot workspa...

Vertebrate retinas are highly-efficient in processing trivial visual tasks such as detecting moving objects, which still represent complex challenges for modern computers. In vertebrates, the detection of object motion is performed by specialised retinal cells named Object Motion Sensitive Ganglion Cells (OMS-GC). OMS-GC process continuous signals and generate spike patterns that post-processed...

In this paper we address the problem of designing energy minimizing collision-free maneuvers for multiple agents moving on a plane. We show that the problem is equivalent to that of finding the shortest geodesic in a certain manifold with nonsmooth boundary. This allows us to prove that the optimal maneuvers are C by introducing the concept of u-convex manifolds. Moreover, due to the nature of ...

We propose HyDICE, Hybrid DIscrete Continuous Exploration, a multi-layered approach for hybrid-system testing that integrates continuous sampling-based robot motion planning with discrete searching. The discrete search uses the discrete transitions of the hybrid system and coarse-grained decompositions of the continuous state spaces or related projections to guide the motion planner during the ...

The subject of this paper is a hybrid hip biped climbing robot. The hybrid hip provides both prismatic and revolute motion, discretely, to the robot, using a single actuator. This is intended to improve its adaptability in confined environments and its capability to maneuver over and around obstacles. Optimization of the hybrid hip relative to robot size, weight, and actuation limits is conside...