In this paper, we show how ihe machinery of ederior differential sysiemr can k wed i o help soltie nonholonomic motion planning problems. Since the Gorrsat normal form for ezterior differential systems is dual i o chained form for vectorfields, we solve the problem of steering a mobile robot with n trailers by convcriing ihe system int.0 chained form, doing ihe paih-planning in the chained form...

Humans have a remarkable ability to navigate using only vision, but mobile robots have not been nearly as successful. We propose a new approach to vision-guided local navigation, based upon a model of human navigation. Our approach uses the relative headings to the goal and to obstacles, the distance to the goal, and the angular width of obstacles, to compute a potential field over the robot he...

We present a view-based method for steering a robot in a network of positions; this includes navigation along a prerecorded path, but also allows for arbitrary movement of the robot between adjacent positions in the network. The approach uses an upward-looking omnidirectional camera; even a very modest quality of the optical system is sufficient, since all views are represented in terms of low-...

In this paper, design of an autonomous microrobotic endoscopy system is presented. The proposed microrobotic endoscope is a vision-guided device, developed to facilitate navigation inside a human colon. The design of the entire system is divided into three areas viz. design of a microrobotic carrier, path planning and guidance, and an off-board control system. A microrobotic design based on pne...

Despite a tremendous amount of progress in the identification and characterization of many new players as components of class 3 secreted semaphorin signaling in growth cone steering (Fig. 1), our understanding of the molecular mechanisms is far from complete. More questions remain to be answered: how are differential cytoskeletal changes within a growth cone achieved in response to semaphorins?...

In this paper, the performance of a digital beam steering antenna array, developed by NAVSYS Corporation, is presented for high accuracy differential and kinematic GPS applications. The NAVSYS’ High Gain Advanced GPS Receiver (HAGR). uses digital beam-steering to combine signals from an antenna array with up to sixteen elements and create a multi-beam antenna for up to eight GPS satellites simu...

This paper suggests a new way for nonholonomic mobile robots to navigate in obstacle environments using potential fields based on navigation functions. The proposed strategy is a time-invariant feedback control design with the distinguishing feature that it requires almost no switching compared to alternative methodologies of the same nature. Asymptotic convergence with collision avoidance for ...

EyeSim is a multi-robot, multi-tasking simulation system that allows realistic simulation of mobile robots with either differential drive, Ackermann steering, or omni-directional Mechanum wheel drive. The software development kit (SDK) for EyeSim is identical to the RoBIOS operating system for the real EyeBot robots, including a virtual camera system. A realistic error model for sensors and act...

Nonlinear antennas combine advances in nonlinear dynamics, active antenna design, and analog microelectronics to generate beam steering and beam forming across an array of nonlinear oscillators. Nonlinear antennas exploit two phenomena typically shunned in traditional designs: nonlinear unit cells and interelement coupling. The design stems from nonlinear coupled differential equation analysis ...