We apply an eye-on-hand Robot Vision system for treating the following three tasks: (a) Tracking objects for obstacle avoidance; (b) Arranging certain viewing conditions; (c) Acquiring an object recognition function. The novelty is the use of so-called compatibilities between motion features and view sequence features. Under real image formation, compatibilities are more general and appropriate...

In this paper, we investigate in which ways a particular behaviour can be achieved with simple mechanisms without being explicitly encoded. It is suggested that enrichening the overall behaviour of an agent in such a way simplifies the creation of intelligent agents. We focus on obstacle avoidance as one particular kind of such a behaviour by an agent. We demonstrate that obstacle avoidance can...

In order to reduce the great number of parking incidences and other collisions in low speed scenarios, an obstacle avoidance algorithm is proposed. Since collision avoidance can be achieved by sole braking when driving slowly this algorithm’s objective is a comfort orientated braking routine. Therefore, an optimization problem is formulated leading to jerk and time optimal trajectories for brak...

Legged robots have superior terrain adaptability comparing to traditional wheeled vehicles. They also offer attractive capabilities in terms of agility and obstacle avoidance. On the other hand, traditional wheeled platforms provide sufficient robustness, mechanical simplicity and energetic performance. They are fast, powerful in terms of load to weight ratio, stable, and easy to control. Hybri...

This paper presents a novel Nonlinear Model Predictive Control (NMPC) scheme for underwater robotic vehicles operating in a constrained workspace including static obstacles. The purpose of the controller is to guide the vehicle towards specific way points with guaranteed input and state constraints (i.e obstacle avoidance, workspace boundaries). The proposed scheme incorporates the full dynamic...

The problem of planning multiple vehicles deals with the design of an effective algorithm that can cause multiple autonomous vehicles on the road to communicate and generate a collaborative optimal travel plan. Our modelling of the problem considers vehicles to vary greatly in terms of both size and speed, which makes it suboptimal to have a faster vehicle follow a slower vehicle or for vehicle...

I n previous work, the authors developed a novel f ramework for ‘hyper-redundant’ robot kinematic analysis and algorithm development. In order t o validate and denioiistrate that work, a 30 degree-of-freedom planar hyper-redundant manipulator was constructed. This paper reviews the implementation of this robot and su1))iiiari:es experimental work in hyper-redundant manipulrilion, obstacle avoid...