This paper considers the problem of motion planning for a nonholonomic unicycle despite uncertainty that scales both the forward speed and the turning rate by an unknown but bounded constant. We model the unicycle as an ensemble control system, show that the position of this ensemble is controllable, and derive motion planning algorithms to steer this position between a given start and goal. We...

Autonomous path planning of Micro Air Vehicles(MAVs) in an urban environment is a challenging task because urban environments are dynamic and have variety of obstacles, and the locations of these obstacles may not be available a priori. In this paper we develop a reactive guidance strategy for collision avoidance using bearing-only measurements. The guidance strategy can be used to avoid collis...

Many unsolved problems exists in the field of robot control. This text investigates state of the art methods for path finding, trajectory generation and control in order to identify their properties, which problems they are applicable to, and their weaknesses. This is done by applying them to problems with actual real-world relevance.

The recent development of a new kind of public transportation system relies on a particular double-steering kinematic structure enhancing manoeuvrability in cluttered environments such as downtown areas. We call bi-steerable car a vehicle showing this kind of kinematics. Endowed with autonomy capacities, the bi-steerable car ought to combine suitably and safely a set of abilities: simultaneous ...

This paper addresses theoretical foundations of motion planning with differential constraints in the presence of obstacles. We establish general conditions for the existence of resolution complete planning algorithms by introducing a functional analysis framework and reducing algorithm existence to a simple topological property. First, we establish metric spaces over the control function space ...

Performance in response inhibition paradigms is typically attributed to inhibitory control. Here we examined the idea that stopping may largely depend on the outcome of a sensory detection process. Subjects performed a speeded go task, but they were instructed to withhold their response when a visual stop signal was presented. The stop signal could occur in the center of the screen or in the pe...

E$cient long-term capacity management is vital to any manufacturing "rm. It has implications on competitive performance in terms of cost, delivery speed, dependability and #exibility. In a manufacturing strategy, capacity is a structural decision category, dealing with dynamic capacity expansion and reduction relative to the long-term changes in demand levels. Sales and operations planning (S&O...

This study assesses opportunities and benefits presented by enterprise resource planning (ERP) in terms of leveraging technology to improve the business of government in the City of El Paso, specifically with respect to activity based costing (ABC) within its ERP system. ABC and ERP, in tandem, can provide reasonably accurate and useful government services cost information for planning and deci...

Elastic bands are proposed as the basis for a new framework to close the gap between global path planning and real-time sensor-based robot control. An elastic band is a deformable collision-free path. The initial shape of the elastic is the free path generated by a planner. Subjected to artificial forces, the elastic band deforms in real time to a short and smooth path that maintains clearance ...

In this paper, the problem of partial stabilization is considered for nonlinear control systems and a general approach for partial stabilization is proposed. In this approach, by introducing the notion of partially passive systems, some theorems for partial stabilization are developed. For this purpose, the nonlinear system is divided into two subsystems based on stability properties of system’...