in this paper, a new online robot motion planner is developed for systematically exploring unknown environâ¬ments by intelligent mobile robots in real-time applications. the algorithm takes advantage of sensory data to find an obstacle-free start-to-goal path. it does so by online calculation of the generalized voronoi graph (gvg) of the free space, and utilizing a combination of depth-first an...

In this paper, a new online robot motion planner is developed for systematically exploring unknown environ¬ments by intelligent mobile robots in real-time applications. The algorithm takes advantage of sensory data to find an obstacle-free start-to-goal path. It does so by online calculation of the Generalized Voronoi Graph (GVG) of the free space, and utilizing a combination of depth-first an...

Three-axis-magnetometers (TAMs) are widely utilized as a key component of attitude determination subsystems and as such are considered the corner stone of navigation for low Earth orbiting (LEO) space systems. Precise geomagnetic-based navigation demands accurate calibration of the magnetometers. In this regard, a complete online calibration process of TAM is developed in the current research t...

Path planning for walking characters in complicated virtual environments is a fundamental task in simulations and games. A navigation mesh is a data structure that allows efficient path planning. The Explicit Corridor Map (ECM) is a navigation mesh based on the medial axis. It enables path planning for disk-shaped characters of any radius. In this paper, we formally extend the medial axis (and ...

An important property in sensor networks is the monitoring of temporal changes of hazardous situations such as forest fires. Rescue groups need to be aware of dynamic changes that affect their rescue efforts. In this paper, we discuss an infrastructure for sensor networks that provides a good abstraction of geometric and topological features of a dynamically changing sensing environment. This i...

Generally, underwater unmanned vehicle (UUV) have adopted an inertial navigation system (INS), dead reckoning (DR), acoustic navigation and geophysical navigation techniques as the navigation method because GPS does not work in deep underwater environment. Although the tactical inertial sensor has been usually used at UUV for precise control during long operation time because the sensor can pro...