This paper presents a trajectory planner for autonomous driving based on Nonlinear Model Predictive Control (NMPC) algorithm that accounts Pacejka's nonlinear lateral tyre dynamics as well zero speed conditions through novel slip angles calculation. In the NMPC framework, road boundaries and obstacles (both static moving) are taken into account thanks to soft hard constraints implementation. Th...

In this paper we introduce an on-line planner implemented on MARIE, a real autonomous robot. Planning occurs at a high level, the planner controls other modules such as the path planner, which contain planners themselves. Plans are represented in a tree structure. The on-line planner has a library of partial trees to choose from when replanning is needed. We think that our research is unique in...

Contact-based decision and planning methods are increasingly being sought for task execution in humanoid robots. Formal methods for verification and synthesis have not been yet incorporated into the motion planning sequence to generate complex mobility behaviors in legged humanoid robots. This study takes a step toward formally synthesizing a high-level reactive task planner for unified legged ...

In this paper, we propose a motion-planning method of multiple mobile robots for cooperative transportation of a large object in a three-dimensional environment. This task has various kinds of problems, such as obstacle avoidance and stable manipulation. All of these problems cannot be solved at once, since it would result in a dramatic increase of the computational time. Accordingly, we divide...

This paper presents a perception-aware path planner for active SLAM in dynamic environments using micro-aerial vehicles (MAV). The “Next-Best-View” (NBVP planner) is combined with an loop closing, which called the Active Loop Closing Planner (ALCP planner). proposed to avoid both static and obstacles unknown while reducing uncertainty of system further improving accuracy localization. First, re...

OBJECTIVE To identify differences in craniofacial morphology of two populations with a history of complete unilateral cleft lip and palate (UCLP) treated under different protocols. DESIGN Retrospective longitudinal cohort study. SETTING Cleft Center of the University of Nijmegen, The Netherlands, and the Cleft Lip and Palate Program, The Hospital for Sick Children, Toronto, Canada. SUBJEC...

Hierarchical Task Network (HTN) planning uses task decomposition to plan for an executable sequence of actions as a solution to a problem. In order to reason effectively, an HTN planner needs expressive domain knowledge. For instance, a simplified HTN planning system such as JSHOP2 uses such expressivity and avoids some task interactions due to the increased complexity of the planning process. ...