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Autonomous system (mathematics)

About: Autonomous system (mathematics) is a research topic. Over the lifetime, 1648 publications have been published within this topic receiving 38373 citations.


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Journal ArticleDOI
TL;DR: In this paper, it is shown that in-flight identification of the flight dynamics of a parafoil is more accurate than a precomputed model of the nominal system, even when the identification is performed with highly inaccurate sensor data.
Abstract: A unique feature of airdrop systems is the inherent and large variability in flight dynamic characteristics The same physical article dropped on two different occasions will exhibit significantly different dynamic response The problem only becomes worse for different test articles Control systems for autonomous airdrop systems explicitly or implicitly assume knowledge of the flight dynamic characteristics in some way, shape, or form A question facing autonomous airdrop designers is whether to use precomputed dynamic characteristics inside the control law, or to compute the needed flight dynamic characteristics in-flight and subsequently employ them in the control law This paper establishes conditions when in-flight identified characteristics, with a focus on the turn rate dynamics, should be used, and when it is better to use precomputed results It is shown that with expected levels of system variability, sensor noise, and atmospheric wind, in-flight identification generally produces significantly more accurate dynamic behavior of the lateral dynamics than a precomputed model of the nominal system, even when the in-flight identification is performed with highly inaccurate sensor data The only exception to this rule observed in this work is the situation where atmospheric winds are high and a direct heading measurement is not available In this situation, a precomputed estimate of the time constant of the lateral dynamics is more accurate than an in-flight estimate These conclusions are reached though a comprehensive simulation study using a validated airdrop flight dynamic model applied to both a small and large parafoil

30 citations

Proceedings ArticleDOI
07 Sep 1997
TL;DR: This work presents an approach for real time planning and execution of the motions of complicated robotic systems, motivated by the observation that a robot's task can be described as a series of simple steps, or a script, and achieves good results.
Abstract: Presents an approach for real time planning and execution of the motions of complicated robotic systems. The approach is motivated by the observation that a robot's task can be described as a series of simple steps, or a script. The script is a general template which encodes knowledge for a class of tasks and is fitted to a specific instance of a task. The script receives information about its environment in the form of parameters, which it uses to bind variables in the template and allows it to deal with the current task conditions. Changes or variations in the robot's environment can be easily handled with this parameterized script approach. New tasks for the robot to perform can be added in the form of subscripts, which could handle exceptional cases. We apply this approach to the task of autonomous excavation, and demonstrate its validity on an actual hydraulic excavator. We obtain good results, with the autonomous system approaching the performance of an expert human operator.

30 citations

Journal ArticleDOI
TL;DR: In this article, a condensation technique is proposed to reduce the nonlinear algebraic equations to those only related to the physical coordinates associated with nonlinear components, which can be used to locate limit cycles of an autonomous system.
Abstract: A set of nonlinear differential equations is transformed to a set of nonlinear algebraic equations. A condensation technique is proposed to reduce the nonlinear algebraic equations to those only related to the physical coordinates associated with nonlinear components. The method allows for the inclusion of searching for sub, super, ultra-sub and ultra-super harmonic components of the system response. It can be used to locate limit cycles of an autonomous system

30 citations

Journal ArticleDOI
TL;DR: The range of autonomous behavior that is relevant and useful in space exploration is explored and the range of possible behaviors is illustrated by presenting four case studies in space-exploration systems, each differing from the others in the degree of autonomy exemplified.
Abstract: This article provides an overview of the nature and role of autonomy for space exploration, with a bias in focus towards describing the relevance of AI technologies. It explores the range of autonomous behavior that is relevant and useful in space exploration and illustrates the range of possible behaviors by presenting four case studies in space-exploration systems, each differing from the others in the degree of autonomy exemplified. Three core requirements are defined for autonomous space systems, and the architectures for integrating capabilities into an autonomous system are described. The article concludes with a discussion of the challenges that are faced currently in developing and deploying autonomy technologies for space.

29 citations

Patent
15 Apr 2013
TL;DR: An autonomous cleaning robot consists of a housing, the autonomous system to drive the robot, and a high power ultraviolet bulb as discussed by the authors, which is used to disinfect the cleaning surface from various types of allergens including bacteria, mold, and dust mites.
Abstract: An autonomous cleaning robot consists of a housing, the autonomous system to drive the robot, and a high power ultraviolet bulb. The ultraviolet bulb is used to disinfect the cleaning surface from various types of allergens including bacteria, mold, and dust mites. The robot itself consists of a hard plastic shell that houses the robots main components and a screen indicating battery life, and cleaning time as well as two buttons to turn the system on and off. The autonomous system uses a series of ultrasonic sensors to calculate the position of the robot relative to obstacles which allow for safe autonomous movement

29 citations


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Performance
Metrics
No. of papers in the topic in previous years
YearPapers
202315
202228
202167
202081
2019101
201863