Cubic spiral is a curve whose direction is a cubic polynomial of arc length. It has been used as a path primitive for nonholonomic car-like mobile robot with restricted turning capability in free environment [1], [2]. In this paper, we investigate the use of cubic spiral segments for car-like mobile robots moving from a given start configuration to a given goal configuration in an environment c...

We consider the problem of robots following natural language commands through previously unknown outdoor environments. A robot receives commands in natural language, such as “Navigate around the building to the car left of the fire hydrant and near the tree.” The robot needs first to classify its surrounding objects into categories, using images obtained from its sensors. The result of this cla...

In this paper, we studied numerically both kinematic and dynamic models of a biologically inspired mammal-like octopod robot walking with a tetrapod gait. Three different nonlinear oscillators were used to drive the robot’s legs working as central pattern generators. In addition, also a new, relatively simple and efficient model was proposed and investigated. The introduced model of the gait ge...

The subject of this thesis covers both mobile robotic and arti cial neural networks(ANN) elds. Our aim is to study solutions that connectionist techniques can bring to particularproblems raised by the automatic control of a car-like vehicle. This report is composed of two mainparts. The rst of them processes fundamental aspects of mobile robot control and of the use ofarti cial ...

Inria a Rh^ one-Alpes & Gravir b Lab. Abstract This article deals with trajectory planning for non-holonomic mobile robots. We call trajectory the association of a path, which is the geometrical restriction of the motion, and of a time schedule given by a time table, a velocity or an acceleration proole. The robots considered are non-holonomic, as their motion's direction is limited by the robo...

Abstract The COVID-19 pandemic has exposed the fragile state of patient involvement in research and presented new opportunities. telepresence robot project aims to tackle social isolation loneliness older people with dementia Long-Term Care (LTC) homes. My team took a Collaborative Action Research (CAR) approach work stakeholders, emphasising meaningful partners (people dementia), family partne...

Robot motion planning in dynamic environments is significantly difficult, especially when the future trajectories of obstacles are only predictable over a short time interval and can change frequently. Moreover, robot’s kinodynamic constraints make task more challenging. This paper proposes novel collision avoidance scheme for navigating kinodynamically constrained robot among multiple passive ...