We introduce a novel probabilistic algorithm (CPRM) for real-time motion planning in the configuration space C. Our algorithm differs from a Probabilistic Road Map algorithm (PRM) in the motion between a pair of anchoring points (local planner) which takes place on the boundary of the obstacle subspace O. We define a varying potential field f on ∂O as a Morse function and follow ~ ∇f . We then ...

Deploying fully autonomous vehicles has been a subject of intense research in both industry and academia. However, the majority these efforts have relied heavily on High Definition (HD) prior maps. These are necessary to provide planning control modules rich model operating environment. While this approach shown success, it drastically limits scale scope deployments as creating maintaining HD m...

This paper presents a robot solution that allows to automatically reach a set of goals attributed to a robot. The challenge is to design autonomous robots assigned to perform missions without a predefined plan. We address the stochastic salesman problem where the goal is to visit a set of points of interest. A stochastic Road-Map is defined as a topological representation of an unstructured env...

Evaluating safety impacts of network planning alternatives have a potential to improve safety in a proactive manner at the system level and at a minor cost of additional analysis. This paper presents a computer-implemented GIS-based method of predicting safety for planning alternatives. Although applicable to large road networks, the method predicts crashes at the road facility level (intersect...

— The aim of this research is to develop a robust navigation system for mobile robot in a road roundabout setting based on a simulated data via a virtual laser range finder (LRF) and vision system. A novel algorithm that combines with the modeled LRF and vision system was proposed to detect the open space area of a road roundabout. To assess the capability of mobile robot in the tracking of the...

Map-matching, which reconciles a vehicle’s location with the underlying road map, is a fundamental function of a land vehicle navigation system. This paper presents an improved Kalman filter approach whose state space model is different from the conventional ones. The main objective of the research is to develop and apply a proper Kalman filter-based model for effectively correcting the Global ...

In the year 2000, SOGON formulated a strategic plan on women's health based on the reproductive health approach with the aim of reducing maternal mortality by 50% by the year 2010. In 2005, the Nigerian Road Map for accelerating the attainment of Millennium Development Goals 4 and 5 was launched. One of the key guiding principles of the Road Map was promoting partnerships and joint programming ...