the large amount of computation necessary for obtaining time optimal solution for moving a manipulator on specified path has made it impossible to introduce an on line time optimal control algorithm. most of this computational burden is due to calculation of switching points. in this paper a learning algorithm is proposed for finding the switching points. the method, which can be used for both ...

This paper deals with the problem of computing the motions of a robot observer in order to maintain visibility of a moving target. The target moves unpredictably, but the distribution of obstacles in the workspace is known in advance. Our approach generates a motion strategy based on partitioning the configuration space and the workspace in non-critical regions separated by critical curves. In ...

Knowledge representation and reasoning 4 Logic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 Probabilistic formulations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 Fuzzy logic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 Planning 6 Motion planning . . . . . . ...

stability and performance are two main issues in motion of bipeds. to ensure stability of motion, a biped needs to follow specific pattern to comply with a stability criterion such as zero moment point. however, there are infinity many patterns of motion which ensure stability, so one might think of achieving better performance by choosing proper parameters of motion. step length and step perio...

Space manipulator systems having spacecraft actuators turned off, operate in free-floating mode, and exhibit nonholonomic behaviour due to angular momentum conservation. The system is underactuated and a challenging problem is to control both the location of the end effector and the attitude of the base, using manipulator actuators only. A developed path planning method that perform this task i...

In this paper, we propose a new method for path planning to a point for robot in environment with obstacles. The resulting algorithm is implemented as a simple variation of Dijkstra’s algorithm. By adding a constraint to the shortest-path, the algorithm is able to exclude all the paths between two points that violate the constraint.This algorithm provides the robot the possibility to move from ...

We present an optimal strategy for searching for a goal in a street which achieves the competitive factor of √ 2, thus matching the best lower bound known before. This finally settles an interesting open problem in the area of competitive path planning many authors have been working on.

Path planning for an autonomous vehicle can occur at two different times. First, path planning might occur at mission specification time when the vehicle’s initial path is determined and used to specify other mission factors. This task makes use of some model of the environment in planning a path that will avoid obstacles and hazardous areas. A second type of path planning might occur while the...