This paper presents the main characteristics of a hexapod robot designed and manufactured by the Centre for Automation and Robotics (CAR) CSIC-UPM, Spain. The main objective of this hexapod walking robot is carry out tasks for localisation of anti-personnel mines, using a scanning manipulator on-board with a metal detector installed on the tool centre point. Previous works done by other hexapod...

This paper investigates trajectory generation for curvature continuous paths. A car-like wheeled robot platform is considered. Planning is performed using a single B-spline curve that maintains continuity through the path. Constraints such as bounded curvature, velocity, and acceleration limits are considered. We minimize the traversal time while maintaining continuity and obeying the robot’s c...

We consider the robot motion planning problem in the presence of non-integrable kinematic constraints, known as non-holonomic constraints. Car-like non-holonomic mobile robots are used for solving this problem, and several implemented planners are discussed. We claim that the randomized methods are more capable of efficiently solving many challenging, high-dimensional problems. Results with ran...

r . This paper investigates how a car-like mobile robot handles unexpected static obstacles while following a n optimal path planned by the global path planner. 'Ib find an optimal solution of the problem, the obstacle avoidance problem is formulated as a decision theoretic approach. The optimal decision rule we seek is to minimize the Bayes risk by trading off between deliberative man ver and ...

A design method for robust stabilization of at systems , feedback equivalent to chained ones, is proposed. The method is based on iterations of well chosen open-loop steering controls. Robustness is characterized by exponential convergence to the equilibrium for any driftless systems close to the original one. The case of chained systems of dimension 4 is treated in details. Simulation of a car...

The aim of the MA thesis "Visualization of simulations of a robot operated car park system" is to identify the best practices and technologies to present the effectiveness of robot operated car park system's underlying algorithm to potential customers. An application demonstrating the work of the robots is built using the identified technologies and best practices. The user experience of the ap...

| This paper addresses trajectory planning in a dynamic workspace, i.e. motion planning for a robot subject to dynamic constraints and moving in a workspace with moving obstacles. First is introduced the novel concept of state-time space, i.e. the state space of the robot augmented of the time dimension. Like connguration space which is a tool to formulate path planning problems, state-time spa...

| This paper addresses trajectory planning in dynamic workspaces, i.e. trajectory planning for a robot subject to dynamic constraints and moving in a workspace with moving obstacles. First is introduced the novel concept of state-time space, i.e. the state space of the robot augmented of the time dimension. Like the concept of connguration space which is a tool to formulate path planning proble...

This report presents a control architecture endowing a car-like vehicle moving in a dynamic and partially known environment with autonomous motion capabilities. Like most recent control architectures for autonomous robot systems, it combines three functional components: a set of basic real-time skills, a reactive execution mechanism and a decision module. The main novelty of the architecture pr...