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Many new Performance Based Navigation (PBN) Instrument Flight Procedures (IFPs) are being developed as the United States transforms its airspace to improve safety and efficiency. Despite significant efforts to prepare for operational implementation of new IFPs, the process does not always go smoothly. The primary goal of this study was to understand what makes IFPs difficult from the perspective of...
Most Model-Driven Development projects focus onmodel-level functional testing. However, our recent study foundan average of 67% additional logic-based test requirements from the code compared to the design model. The fact that full coverage at the design model level does not guarantee full coverage at the code level indicates that there are semantic behaviors in the model that model-based tests might...
This paper addresses the problem of navigating a mobile robot with a limited field-of-view in a unknown dynamic environment. In such a situation, absolute motion safety, i.e. such that no collision will ever take place whatever happens, is impossible to guarantee. It is therefore settled for a weaker level of motion safety dubbed passive motion safety: it guarantees that, if a collision takes place,...
We propose a method for synthesizing decentralized feedback controllers for a team of multiple heterogeneous agents navigating a known environment with obstacles. The controllers are designed to drive agents with limited team state information to goal sets while avoiding collisions and maintaining specified proximity constraints. The method, its successful application to nonholonomic agents in dynamic...
Robot navigation methods can be divided into two classes: global path planning and local reactive methods. Global path planning methods find an optimal path to a specified goal, while local reactive methods compute proper control commands for the robot according to recent sensory information. In this paper, a new navigation method is presented, the new method integrates dynamic window approach (DWA)...
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