We test the hypothesis that the posterior parietal cortex (PPC) contributes to the control of visually guided locomotor gait modifications by constructing an estimation of object location relative to body state, and in particular the changing gap between them. To test this hypothesis, we recorded neuronal activity from areas 5b and 7 of the PPC of cats walking on a treadmill and stepping over a...

We study the uniqueness and accuracy of the numerical solution of the problem of reconstruction of the shape and trajectory of a reflecting obstacle moving in an inhomogeneous medium from travel times, start and end points, and initial angles of ultrasonic rays reflecting at the obstacle. The speed of sound in the domain when there is no obstacle present is known and provided as an input parame...

In this paper we discuss the topic of modeling a moving object in a robot application considering as example the ball movement in a robot soccer environment. The paper focuses on the question of how to estimate the ball velocity reliably even if the ball collides with an obstacle or the observing robot is moving itself. We propose a new estimation algorithm based on a direct estimate using ridg...

This paper presents the design and implementation of a driverless car for populated urban environments. We propose a system that explicitly map the static obstacles, detects and track the moving obstacle, consider the unobserved areas, provide a motion plan with safety guarantees and executes it. All of it was implemented and integrated into a single computer maneuvering on real time an electri...

We present an efficient obstacle avoidance control algorithm for redundant manipulators using a new measure called collidability measure. Considering moving directions of manipulator links, the collidability measure is defined as the sum of inverse of predicted collision distances between links and obstacles: This measure is suitable for obstacle avoidance since directions of moving links are a...

Finite element schemes loose accuracy when approximating a class of vari-ational inequalities, elliptic obstacle problems, due to the existence of free boundaries. In this paper, moving mesh nite element method is applied to solve the elliptic obstacle problems. Computational meshes are constructed by combining harmonic mapping and sharper a posteriori error estimators which are normally used i...

In this paper we describe an approach to coordinating the motion of a human with a mobile robot moving in a populated, continuously changing, natural environment. Our test application is a wheelchair accompanying a person through the concourse of a railway station moving side by side with the person. Our approach is based on a method for motion planning amongst moving obstacles known as Velocit...