trajectories generally used to describe the space and time required to perform a desired motion task for a mobile robot or manipulator system. in this paper, we considered a cubic polynomial trajectory for the problem of moving a mobile robot from its initial position to a goal position in over a continuous set of time. along the path, the robot requires to observe a certain acceleration profil...

This paper throws a small “wet blanket” on the hot topic of GPGPU acceleration, based on experience analyzing and tuning both multithreaded CPU and GPU implementations of three computations in scientific computing. These computations—(a) iterative sparse linear solvers; (b) sparse Cholesky factorization; and (c) the fast multipole method—exhibit complex behavior and vary in computational intens...

A robot path planning technique is proposed in the paper. It was developed for robots with differential drive, but with minor modifications it could be used for all types of nonholonomic robots. The path was planned in the way to minimise the time of reaching the end point in desired direction and with desired velocity, starting from the initial state described by the start point, initial direc...

Currently, angular acceleration is believed to be more damaging to the brain than linear acceleration, even though both are present in any head impact. In a recent experiment, it was found that a helmeted head sustained the same degree of angular acceleration as the unhelmeted head for the same impact, but its linear acceleration was decreased significantly. So, if angular acceleration is the c...