This paper describes a novel algorithm, Followthe-Past, for autonomous path-tracking vehicles. Common algorithms, like Pure Pursuit and Follow the Carrot, compute steering commands that make a vehicle follow approximately a predefined path. One problem with these algorithms is that they tend to cut corners, since they do not explicitly take into account the actual curvature of the path. The met...

A number of algorithms for path tracking are described in the robotics literature. Traditional algorithms, like Pure Pursuit and Follow the Carrot, use position information to compute steering commands that make a vehicle follow a pre-defined path approximately. These algorithms are well known to cut corners, since they do not explicitly take into account the actual curvature of the path. In th...

This paper addresses the problem of designing control systems for steering an autonomous vehicle, varying speed, ensuring stability and sustaining performance, taking into account comfort safety. A novel automatic lateral architecture is proposed combining Linear Parameter Varying (LPV) theory Pure-Pursuit algorithm. The response robust controller investigated tracking a reference trajectory. i...

Accuracy in estimating an object's global motion over time is not only affected by the noise in visual motion information but also by the spatial limitation of the local motion analyzers (aperture problem). Perceptual and oculomotor data demonstrate that during the initial stages of the motion information processing, 1D motion cues related to the object's edges have a dominating influence over ...

BACKGROUND AND PURPOSE Pure hemisensory syndrome can be caused by small strokes occurring in a number of regions, including the thalamus and pons. Differentiation of the pontine sensory syndrome from the thalamic sensory syndrome has generally been made on the basis of distribution of sensory loss and involvement of specific sensory modalities but not without uncertainties and difficulties. Bec...

In a pursuit evasion game, the pursuer tries to capture the evader while the evader tries to prevent this capture. A classical approach is to model this game as an infinite differential game. In this report, we model a pursuit-evasion game as a finite extensive form game, and show that the differential game is a generalization of this game. We prove that a pure-strategy Nash equilibrium always ...

In this study, a differential wheeled mobile robot was controlled in real time using pure pursuit algorithm (PPA). The obtained simulation environment by Gazebo simulator which offer the ability to accurately and efficiently simulate various robots complex indoor/outdoor environments. This operated with operating system (ROS) that allows use of Python, C++, MATLAB or programming languages. pape...

We discuss the collective dynamics of self-propelled particles with selective attraction and repulsion interactions. Each particle, or individual, may respond differently to its neighbours depending on the sign of their relative velocity. Thus, it is able to distinguish approaching (coming closer) and retreating (moving away) individuals. This differentiation of the social response is motivated...

In our pursuit of an efficient, protecting-group-free synthesis of the dual CCK1/CCK2 receptor antagonist 1, we have developed chemoselective conditions for sulfonamide formation reaction in pure water and a PhNMe(2) mediated carboxamide formation, both in the presence of a carboxylic acid. Practical synthesis of an unnatural, chiral β-aryl-α-amino acid is also described.

Cyclic pursuit frameworks, which are built upon pursuit interactions between neighboring agents in a cycle graph, provide an efficient way to create useful global behaviors in a collective of autonomous robots. Previous work has considered cyclic pursuit with a constant bearing (CB) pursuit law and has demonstrated the existence of circling equilibria for the corresponding dynamics. In this wor...