Due to its simplicity and efficiency, the pure-pursuit path tracking method has been widely employed for planned navigation of nonholonomic ground vehicles. In this paper, we investigate the application of this technique for reactive tracking of paths that are implicitly defined by perceived environmental features. Goal points are obtained through an efficient interpretation of range data from ...

Projection pursuit index measuring quality of projected clusters (QPC) introduced recently optimizes projection directions by minimizing leave-one-out error searching for pure localized clusters. QPC index has been used in constructive neural networks to discover non-local clusters in high-dimensional multiclass data, reduce dimensionality, aggregate features, visualize and classify data. Howev...

Here, Πβ (xi) denotes the normalised projection operators onto the eigenstates xi of ρβ , and the corresponding probability weights wi satisfy wi > 0 and ∑ iwi = 1. Some care has to be taken with this interpretation of ρβ , because in the present context the underpinnings of classical probability are missing, and the associated terminology can only be used, therefore, by analogy. Nevertheless, ...

In the push to replace fossil fuels and their conversion into energy via the internal combustion engine with cleaner and more renewable energy sources for the transportation sector, hydrogen and the fuel cell have emerged as the best candidates for the future. Hydrogen is readily available in near limitless quantities and produces only water and heat as a byproduct when reacted with oxygen. Whi...

This paper investigates a new approach for the guidance and control of an autonomous underwater vehicle (AUV). An integrated system is developed and simulated involving a proportional navigation guidance (PNG) law and model predictive control (MPC). The classical PNG law for missile systems has been tailored to guide the AUV by generating reference headings. MPC is used to track the reference t...

115 Lincoln Laboratory automated four Husky Mark III mine-detection vehicles, the world’s first autonomous vehicles to steer using a novel localizing ground-penetrating radar. At nine tons, these autonomous vehicles are some of the largest to be put into combat operations to date. The vehicle is guided by a novel derivation of the pure pursuit steering algorithm adapted to a proportional four-w...

Path planning is an essential function in intelligent vehicle, especially when driving scenarios cluttered by large-scale static obstacles. Traditional path planners often struggle to find a balance among speed, accuracy, and optimality their solutions. In this paper, we introduce Adaptive Pure Pursuit (APP) planner, which designed be fast near-optimal for autonomous environments. The APP plann...

Abstract A behavioral-based strategy for cooperative hunting using drones is proposed in this paper. In decentralized scheme, each drone acts as an individual agent computing its guidance toward the target based on relative position of neighbors without use direct communication. The algorithm deviated pure pursuit methodology, and emerged behavior mimics a natural formation. Simulations real-ti...

in this paper‎, ‎we introduce the notion of $(m,n)$-‎algebr‎aically compact modules as an analogue of algebraically‎ ‎compact modules and then we show that $(m,n)$-algebraically‎ ‎compactness‎ ‎and $(m,n)$-pure injectivity for modules coincide‎. ‎moreover‎, ‎further characterizations of a‎ ‎$(m,n)$-pure injective module over a commutative ring are given‎.