With the wide deployment of kinematically redundant manipulators in complex working environments, obstacle avoidance emerges as an important issue to be addressed in robot motion planning. In this paper, the inverse kinematic control of redundant manipulators with obstacle avoidance task is formulated into a (convex) quadratic programming (QP) problem with both equality and inequality constrain...

In this paper, we present a feature based approach for monocular scene reconstruction based on extended Kalman filters (EKF). Our method processes a sequence of images taken by a single camera mounted in front of a mobile robot. Using different techniques we are able to produce a precise reconstruction that is free from outliers and therefore can be used for reliable obstacle detection and avoi...

A new method for reactive autonomous robot navigation using the center of area of detected free space around the robot is described. The proposed method uses only part of detected free space in front of the robot to compute a partial center of area. It is then used to guide the robot in a path suitable for smooth and robust wandering in complex environments. A simple modification in the algorit...

The insect visuomotor system combines a lightweight and high bandwidth sensor with fast processing algorithms for efficient information extraction that enables autonomous navigation in complex, obstacle laden environments. In this paper, an H∞ loop shaping controller synthesis framework is introduced to analyze an information extraction approach from patterns of optic flow based on analogs of w...

This paper presents an approach to on-line path planning for multiple robots in configuration space. On the basis of defining some points in workspace as fmdamental obstacles, we develop an efficient algorithm for mapping a complex Cartesian obstacle by selecting obstacle's critical points. Its computational time for mapping a two-dimensional obstacle is approximately 5ms with a 33Mhz 80486 CPU...

The aim of this work is to implement a hybrid approach able to provide an efficient solution of the electromagnetic coupling between an antenna and an obstacle distant few meters away. The idea is to divide the problem into a small number of less complex sub-problems exploiting the advantage of generating the admittance matrix that describes the scattering problem by a numerical code. To this e...

The paper presents fuzzy navigation system for a mobile robot. This navigation is based on fuzzy inference machine that performs path planning and obstacle avoidance in arbitrary complex environments. The system is built as two-level hierarchical system. On the higher level there is a controlling PC that is connected with robot control unit through duplex, wireless communication channel. A sens...

Achieving persistent autonomy requires unmanned surface vehicles (USVs) to be able to deal with a wide variety of complex planning situations. In this paper, we introduce a model-predictive, local trajectory planning algorithm for USVs operating in congested and highly dynamic traffic. The planner generalizes the Velocity Obstacle concept to systems with non-linear dynamics, nonholonomic constr...

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In this paper, we present a novel method for performing collective transport in the presence of obstacles. Three robots are physically connected to an object to be transported from a start to a goal location. The task is particularly challenging because the robots have a heterogeneous perception of the environment. In fact, the goal and the obstacles can be perceived only by some of the robots....