In this paper, we present a novel method for performing collective transport in the presence of obstacles. Three robots are physically connected to an object to be transported from a start to a goal location. The task is particularly challenging because the robots have a heterogeneous perception of the environment. In fact, the goal and the obstacles can be perceived only by some of the robots....

Given the a priori knowledge of the environment and the goal position, mobile robot navigation refers to the robot’s ability to safely move towards the goal using its knowledge and the sensorial information of the surrounding environment. Even though there are many different ways to approach navigation, most of them share a set of common components or blocks, among which path planning and obsta...

A robotic intelligent wheelchair system based on obstacle avoidance and navigation functions Mohammed Alshraideh, Basel A. Mahafzah, Saleh Al-Sharaeh & Ziad M. Hawamdeh a Department of Computer Science, King Abdullah II School for Information Technology, The University of Jordan, Amman 11942, Jordan b Department of Special Surgery, Faculty of Medicine, The University of Jordan, Amman 11942, Jor...

The obstacle avoidance problem has been a well researched topic by many robotics researchers. We focus on one popular solution to this problem, the Curvature-Velocity Method(CVM). In Simmons’ original paper [5], differentially steered (DS) robots where not considered thoroughly. This paper presents a variation on CVM, specifically designed for DS robots. We show comparable results to that of Si...

In this paper a reactive and concurrent control framework for viewpoint control is developed. The viewpoint control task is decomposed into three control objectives namely; obstacle avoidance, visibility and precision. A moving object is tracked in two panoramic sensors using color, and a scalar uncertainty metric of the object position estimate is introduced. Individual control objectives are ...

Learning by observation allows a software agent to learn an expert’s behaviour, by examining the actions the expert performs in response to inputs, without the expert having to explicitly program the agent. Most learning by observation approaches only make use of the current inputs and actions of the expert and ignore any past inputs or actions. This limits the agents to only being able to lear...

Remote labs are increasingly being used as an effective tool for letting students practicing with real experiments, with limited effort and cost. A multi-robot setup, based on the LEGOMindstorms technology and the Matlab environment, allowing students to experiment with real robots through the Internet, has been developed. In this paper, a novel feature of this setup is presented. The concept o...

In this paper, we present a novel methodology to perform collective transport in the presence of obstacles. Three robots are physically connected in a semicircle around an object to be transported from a start to a goal location. The task poses two main challenges. First, the presence of both a goal and obstacles requires appropriate negotiation of the direction among the members of the group. ...

This paper presents WOAH, a method for real-time mobile robot path following and obstacle avoidance. WOAH provides reactive speed and turn instructions based on obstacle information sensed by a laser range finder. Unlike many previous techniques, this method allows a robot to move quickly past obstacles that are not directly in its path, avoiding slowdowns in path following encountered by previ...

We investigate how the use of haptic feedback through electrical muscle stimulation (EMS) can improve collision-avoidance in a robot teleoperation scenario. Background: Collision-free requires extensive situation awareness by operator. This is difficult to achieve purely visually when obstacles exist outside robot’s field view. Therefore, from other sensory channels be beneficial. Method: compa...