Journal ArticleDOI
Collision avoidance in a two-point system via Liapunov's second method
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TLDR
A solution to the problem of finding a path for a moving solid among other solid obstacles is provided via the second or direct method of Liapunov and two new results are presented.About:
This article is published in Mathematics and Computers in Simulation.The article was published on 1995-11-08. It has received 10 citations till now. The article focuses on the topics: Collision avoidance & Obstacle avoidance.read more
Citations
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Book
Introduction to Autonomous Mobile Robots
TL;DR: Bringing together all aspects of mobile robotics into one volume, Introduction to Autonomous Mobile Robots can serve as a textbook or a working tool for beginning practitioners.
Journal ArticleDOI
Constructive safety using control barrier functions
Peter Wieland,Frank Allgöwer +1 more
TL;DR: In this paper, a new safety feedback design for nonlinear systems based on barrier certificates and the idea of control Lyapunov functions is presented, which ensures safety independently of abstract high-level tasks that might be unknown or change over time.
DissertationDOI
Predictive autonomous robot navigation
Amalia F. Foka,Panos Trahanias +1 more
TL;DR: This paper considers the problem of a robot navigating in a crowded or congested environment and proposes a hierarchical representation of POMDPs to attempt to predict the motion trajectory of humans and obstacles.
Proceedings ArticleDOI
A Lagrangian UAV swarm formation suitable for monitoring exclusive economic zone and for search and rescue
TL;DR: This paper presents the velocity controllers of the simple rigid-body individuals of a 2-D Lagrangian swarm model that can take up a linear formation which could be used by unmanned aerial dynamical systems for searching large areas.
Journal ArticleDOI
A solution to the two-dimensional findpath problem
TL;DR: In this paper, a solution is proposed for the two-dimensional case where two point masses are required to move to designated areas or targets located in the horizontal plane while avoiding moving or stationary planar objects.
References
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Journal ArticleDOI
Real-time obstacle avoidance for manipulators and mobile robots
TL;DR: This paper reformulated the manipulator con trol problem as direct control of manipulator motion in operational space—the space in which the task is originally described—rather than as control of the task's corresponding joint space motion obtained only after geometric and geometric transformation.
Book
The general problem of the stability of motion
TL;DR: In this article, the general problem of the stability of motion is considered and the authors propose a solution to the problem of stability in the stability-of-motion (SOM) problem.
Journal ArticleDOI
Spatial Planning: A Configuration Space Approach
TL;DR: In this article, the authors propose an approach based on characterizing the position and orientation of an object as a single point in a configuration space, in which each coordinate represents a degree of freedom in the position or orientation of the object.
Book
Spatial planning: a configuration space approach
TL;DR: Algorithms for computing constraints on the position of an object due to the presence of ther objects, which arises in applications that require choosing how to arrange or how to move objects without collisions are presented.
Book ChapterDOI
Solving the find-path problem by good representation of free space
TL;DR: An algorithm is presented which efficiently finds good collision-free paths for convex polygonal bodies through space littered with obstacle polygons by characterizing the volume swept by a body as it is translated and rotated as a generalized cone.
Related Papers (5)
Extending Collision Avoidance Methods to Consider the Vehicle Shape, Kinematics, and Dynamics of a Mobile Robot
Javier Minguez,Luis Montano +1 more