This article proposes a modification of hybrid A* method used for navigation spherical mobile robots with the ability limited partial lateral movement driven by pendulum. For pendulum-driven nonzero minimal turning radius, our helps to find feasible and achievable path, which can be followed in line low time cost. Because shell shape, robot is point contact ground, showing different kinematic m...

We propose a novel passivity-enforcing tele-driving control framework, which will enable a human operator to stably tele-control a unicycle-type wheeled mobile robot (WMR) over communication network with constant delays while having some useful haptic force-feedback. We consider both the case of kinematic and dynamic WMRs. Our main objective is to enable human users to tele-drive the WMR as the...

This paper describes our work on applying stereo vision to the control of a car or car-like mobile robot, using cheap, low-quality cameras. Our approach is based on line segments, since those provide significant information about the environment, provide more depth information than point features, and are robust to image noise and colour variation. However, stereo matching with line segments is...

One of the most challenging tasks for mobile robots is to track mobile obstacles that surround them. This task is especially difficult in outdoor environments where a great variety of obstacles may induce the robot to take erroneous decisions. The mobile robot needs as much information as possible concerning the obstacle positions and speeds (direction and magnitude) in order to plan evasive ma...

The rst part of the study is centered on control design and analysis for nonlinear systems which can be converted to chained-form systems. Solutions to various control problems (open-loop steering, partial or complete state feedback stabilization) are either recalled, generalized, or developped by extending an approach followed by the author in previous papers on mobile robot control. In partic...

A motion planner for car-like robots based on a global/local approach. REFERENCES 26 Acknowledgments We would like to thank Geert-Jan Giezeman for the implementation of many cruciaìgeometric' routines (some of which are contained in the Plageo library, see Gie93]), Erik Vermeer, who has written most of the code for articulated robots, Jules Vleugels, Erik van Wessel, and Otfried Schwarzkopf for...

| This paper addresses dynamic trajectory planning which is deened as trajectory planning for a robot subject to dynamic constraints and moving in a dynamic workspace, i.e. with moving obstacles. To begin with, we propose the novel concept of state-time space as a tool to formulate dynamic trajectory planning problems. The state-time space of a robot is its state space augmented of the time dim...

the problem of navigation among movable obstacles (namo) is to find a collision free path for a robot while the robot is able to manipulate and transfer some objects (if possible or needed) to clear its path toward the goal. namo is a np-complete problem and is in a class of motion planning problems that have dynamic environments. in this domain, an optimal plan for the robot can be defined wit...

| This paper addresses trajectory planning for a robot subject to dynamic constraints and moving in a dynamic workspace. A car-like robot A with bounded velocity and acceleration, moving in a dynamic two-dimensional workspace is considered. The solution proposed is an extension of the path-velocity decomposition which is a practical way to address trajectory planning in dynamic workspaces. Howe...

ion and Control for Swarms of Robots Calin Belta , Guilherme A.S. Pereira, and Vijay Kumar 1 Mechanical Engineering and Mechanics Drexel University, Philadelphia, PA 19104 USA [email protected] 2 GRASP Laboratory University of Pennsylvania, Philadelphia, PA 19104 USA {guilherm, kumar}@grasp.cis.upenn.edu Abstract. This paper addresses the design of simple robot behaviors that realize emergent gr...