In a future intelligent factory, a robotic manipulator must work efficiently and safely in a Human-Robot collaborative and dynamic unstructured environment. Autonomous path planning is the most important issue which must be resolved first in the process of improving robotic manipulator intelligence. Among the path-planning methods, the Rapidly Exploring Random Tree (RRT) algorithm based on rand...

In this paper, we study the determination of the shape of an obstacle with rough boundary (not necessary Lipschitz) from its scattering amplitude. Following the technique used in paper [6], we obtain an extension of the local uniqueness result for Lipschitz obstacles to rougher ones. We also give a criterion to identify a ball in R 3 from its scattering amplitude.

Motivated by the “tug-of-war” game studied in [12], we consider a “non-local” version of the game which goes as follows: at every step two players pick respectively a direction and then, instead of flipping a coin in order to decide which direction to choose and then moving of a fixed amount > 0 (as is done in the classical case), it is a s-stable Levy process which chooses at the same time bot...

A posteriori error estimates for the obstacle problem are established in the framework of the hypercircle method. To this end, we provide a general theorem of Prager– Synge type. There is now no generic constant in the main term of the estimate. Moreover, the role of edge terms is elucidated, and the analysis also applies to other types of a posteriori error estimators for obstacle problems.

The robot soccer game based complex motion control has been widely studied for the moving object capture and shooting. A position prediction algorithm based on global vision is introduced in order to improve the accuracy and robustness of the vision system for tracking moving objects, including a Kalmanfiter, a dynamic window and an obstacle avoidance strategy. This paper deals with the positon...

This paper examines the role of the human driver as the primary control element within the traditional driver-vehicle system. Lateral and longitudinal control tasks such as path-following, obstacle avoidance, and headway control are examples of steering and braking activities performed by the human driver. Physical limitations as well as various attributes that make the human driver unique and ...

An obstacle avoidance approach is introduced that has dynamic active regions. The dynamic regions are adapted to the current speed of the robot and there are different active regions used, one for speed reduction and one of turning away from obstacles. The overall strategy of this approach is that the robot can drive with high speed which will be reduced in front of an obstacle in order to do a...

Let {X1, . . . , Xm} be a basis of the space of horizontal vector fields on the Carnot group G = (R , ◦)(m < N). We establish regularity results for solutions to the following quasilinear degenerate elliptic obstacle problem ∫ Ω 〈〈AXu,Xu〉 p−2 2 AXu,X(v − u)〉dx ≥ ∫ Ω B(x, u,Xu)(v − u)dx

In this paper, we propose a novel type of serial robot with minimal actuation. The robot is a serial rigid structure consisting of multiple links connected by passive joints and of movable actuators. The novelty of this robot is that the actuators travel over the links to a given joint and adjust the relative angle between the two adjacent links. The joints passively preserve their angles until...

We use a characterization of the fractional Laplacian as a Dirichlet to Neumann operator for an appropriate differential equation to study its obstacle problem in perforated domains.