In this paper we describe an approach to coordinating the motion of a human with a mobile robot moving in a populated, continuously changing, natural environment. Our test application is a wheelchair accompanying a person through the concourse of a railway station moving side by side with the person. Our approach is based on a method for motion planning amongst moving obstacles known as Velocit...

This paper presents a method for redundancy resolution of an industrial manipulator in a teleoperated force control task A seven degree-of-freedom (DOF) industrial manipulator manufactured by the Mit-subishi Heavy Industries Ltd. is used for experiments. The task involves obeying a force command sent from a remote computer while autonomously adapting the posture to avoid unexpected obstacles mo...

The fuzzy virtual object is proposed based on fuzzy modelization of the moving objects in dynamic environments. The fuzzy virtual object is defined as a fuzzy set whose membership function contains the objects’ motion information. It provides a basis of motion control for mobile robots in dynamic environments. A new method of real-time fuzzy robot control is proposed based on the fuzzy environm...

We present a probabilistic method for noisy sensor based robotic navigation in dynamic environments. The method generates an optimal trajectory by considering as optimality criteria the probability of not colliding with the obstacles and the probability of accessing an operational position with respect to a moving target object. Estimates of the obstacle's kinematic parameters and measures of c...

This paper describes a mobile robot navigation method in dynamic environments. The method uses a real-time omnidirectional stereo which can obtain panoramic range information of 360 degrees. From this panoramic range information, the robot first estimates its ego-motion by comparing the current and the previous observations in order to integrate observations obtained at di erent positions. The ...

In this paper we introduce a new class of geometric robot motion planning problems that we call incremental problems. W e also introduce the concept of incremental algorithms to solve this class of problems. As a n example, we describe an incremental critical curve based exact cell decomposition algorithm for a line segment robot moving freely amidst polpgonal obstacles. In the example, after c...

Model checking [2] has been applied to many areas of software and hardware verification; this includes hybrid systems, which contain both hardware and software components. To model hybrid systems both types of component are included in a single model. In this research we consider hybrid systems in which multiple agents interact in an environment. An agent is a simple robot capable of moving, de...

This paper presents an evolutionary approach to the Inverse Kinematics problem. The Inverse Kinematics problem concerns finding the placement of a manipulator that satisfies certain conditions. In this paper apart from reaching the target point the manipulator is required to avoid a number of obstacles. The problem which we tackle is dynamic: the obstacles and the target point may be moving whi...

A control system design based on coupled nonlinear oscillators (CNOs) for a selforganized swarm system is presented. In this scheme, agents self-organize to flock and arrange group formations through attractive and repulsive forces among themselves using CNOs. Virtual agents are also used to create richer group formation patterns. The objective of the swarm control in this paper is to follow a ...

This paper addresses the problem of path planning for a free-flying object in a (threedimensional) environment that contains both obstacles and so-called dangerzones. The path should (obviously) avoid collisions with the obstacles. The path is allowed to intersect with the dangerzones but this should be avoided as much as possible. We show that, under some mild conditions, a path always exists ...