In this paper, we investigate the problem of the detection of a moving obstacle in a perfect fluid occupying a bounded domain in R from the measurement of the velocity of the fluid on one part of the boundary. We show that when the obstacle is a ball, we may identify the position and the velocity of its centre of mass from a single boundary measurement. Linear stability estimates are also estab...

We consider the motion planning problem for a point constrained to move along a smooth closed convex path of bounded curvature. The workspace of the moving point is bounded by a convex polygon with m vertices, containing an obstacle in a form of a simple polygon with n vertices. We present an O(m + n) time algorithm finding the path, going around the obstacle, whose curvature is the smallest po...

This paper deals with distance computation between a car-like robot moving only forward and polygonal obstacles. We propose eecient geometric algorithms to compute the shortest paths to obstacles. We then derive the \visibility" domain in the presence of obstacles , i.e. the set of positions reachable from a starting connguration, by a collision-free shortest path unaffected by the presence of ...

We introduce improved element-free Galerkin method based on block pulse wavelet integration for numerical approximations to the solution of a system of fourth-order boundary-value problems associated with obstacle, unilateral, and contact problems. Moving least squares (MLS) approach is used to construct shape functions with optimized weight functions and basis. Numerical results for test probl...

Purpose – Aims to develop a robotic platform to autonomously track a moving object Design/methodology/approach – This robotic platform, based on a modular system known as SafeBot, uses two sensors: a visual CCD camera and a laser-based range sensor. The rigidly mounted camera tracks an object in front of the platform and generates appropriate drive commands to keep the object in view, even if t...

This paper presents a framework to detect moving objects based on the recognition of moving features in the images. The classification scheme is based on a complete probabilistic representation of feature locations that relates the vehicle motion with the visual information. Experimental evaluation under different settings in an outdoor, urban environment shows the performance of the proposed a...

The problem of tracking and capturing a moving obstacle in two dimensions by a mobile robot equipped with a wide-beam sonar system is discussed. In a practical system the range and azimuth measurements contain random errors and are available over a limited region. This pursuer/prey problem is treated as a feedback control system for which the pursuer action is dependent of the observed measurem...

This paper presents a new moving obstacle detection method using an optical flow in mobile robot with an omnidirectional camera. Because an omnidirectional camera consists of a nonlinear mirror and CCD camera, the optical flow pattern in omnidirectional image is different from the pattern in perspective camera. The geometry characteristic of an omnidirectional camera has influence on the optica...