We extend a dynamic approach of behavior generation to the representation of spatial information. Two levels of dynamics integrate dead-reckoning, dominant far from home bases, and piloting, dominant near home bases. When the view-based piloting system recognizes a home base, visual place information re-calibrates the dead-reckoning system, inverting the hierarchical ordering of the two dynamic...

This master’s project addresses the obstacle avoidance problem in difficult scenarios in three-dimensional workspaces. The main contribution of this project is the theoretical extension of the ObstacleRestriction Method (ORM) in two dimensions to work in 3D workspaces. This master’s thesis describes a reactive obstacle avoidance technique to drive a robot in dense, cluttered and complex environ...

We are developing techniques for safeguarding the remote operation of lunar rovers. This paper presents two complementary techniques: One, based on stereo vision, evaluates the traversability of paths the rover could follow, and produces preferences for steering directions. The other, based on laser proximity sensing, looks for hazards immediately in front of the rover, commanding an emergency ...

That's it, a book to wait for in this month. Even you have wanted for long time for releasing this book obstacle avoidance in multi robot systems experiments in parallel genetic algorithms; you may not be able to get in some stress. Should you go around and seek fro the book until you really get it? Are you sure? Are you that free? This condition will force you to always end up to get a book. B...

Recent work in socio-biological sciences have introduced simple heuristics that accurately explain the behavior of pedestrians navigating in an environment while avoiding mutual collisions. We have adapted and implemented such heuristics for distributed obstacle avoidance in robot swarms, with the goal of obtaining human-like navigation behaviors which would be perceived as friendly by humans s...

In this work, we report on a solution for providing support to the blind using mobile museum guides by exploiting the haptic channel as a complement to the audio/vocal one. The overall goal is to improve the autonomy and social integration of blind visitors. We followed an iterative approach in which the proposed system went through various user evaluations and further refinements. The final so...

This paper introduces gyroscopic forces as an tool that can be used in addition to the use of potential forces in the study of collision and convex obstacle avoidance. It makes use of the concepts of a detection shell and a safety shell and shows, in an appropriate context, that collisions are avoided, while at the same time guaranteeing that control objectives determined by a potential functio...

This paper proposes a Particle-Filter approach and a set of motion strategies to cooperatively localize a team of three robots. The allocated mission consists on the path following of a closed trajectory and obstacle avoidance in isolated and unstructured scenarios. The localization methodology required for the correct path following relies on distance and orientation measurements among the rob...

In this paper we discuss a robotic task requiring dynamical safety in the face of an intermittent environment. We define and offer examples of this notion. We then construct a dynamically safe composite controller from dynamically safe constituents, and present empirical evidence of its effectiveness. 1. I n t r o d u c t i o n This paper and a companion paper [1] develop an approach to buildin...

Grasping is one of the most important abilities needed for future service robots. In the task of picking up an object from between clutter, traditional robotics approaches would determine a suitable grasping point and then use a movement planner to reach the goal. The planner would require precise and accurate information about the environment and long computation times, both of which are often...