Reaching while avoiding obstacles: a neuronally inspired attractor dynamics approach

Motion Coordination in Dynamic Environments: Reaching a Moving Goal while Avoiding Moving Obstacles

Reaching with a Redundant Anthropomorphic Robot Arm using Attractor Dynamics

An Algorithm for Moving a Computer-Controlled Manipulator While Avoiding Obstacles

In programming a computer to control a manipulator, the problem of avoiding obstacles present in the environment must be faced. This paper presents a simple world model containing the manipulator as well as obstacles, and describes an algorithm for guiding the manipulator to a specified destination point while avoiding collisions with obstacles. The algorithm combines a number of heuristics wit...

Avoiding unseen obstacles: Subcortical vision is not sufficient to maintain normal obstacle avoidance behaviour during reaching.

Previous research found that a patient with cortical blindness (homonymous hemianopia) was able to successfully avoid an obstacle placed in his blind field, despite reporting no conscious awareness of it [Striemer, C. L., Chapman, C. S., & Goodale, M. A., 2009, PNAS, 106(37), 15996-16001]. This finding led to the suggestion that dorsal stream areas, that are assumed to mediate obstacle avoidanc...

Avoiding obstacles using a connectionist network

In this article, visual data obtained by a binocular active vision system is integrated, together with ultrasonic range measurements; in the development of a obstacle detection and avoidance system based on a connectionist grid. The traditional notion of probabilistic occupation grid is extended through the use of a three-layer structure of connectionist networks which allows the integration of...