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We introduce ProbLP, a probabilistic local planner, for safe navigation of an autonomous robot in dynamic, unknown, continuous, and cluttered environments. We combine the proposed reactive planner with an existing global planner and evaluate the hybrid in challenging simulated environments. The experiments show that our method achieves a 77% reduction in collisions over the straight-line local planner...
Mobile robots use several sensors to obtain information about the surrounding environment and perform its mission. In general, when an operator controls this robot remotely, the situation around robot should be recognized only by the transmitted information from it. However, it is hard to operate it easily without collision using the limited information transmitted from it. If the robot have its autonomy...
This paper proposes a novel algorithm for mobile robot navigation in completely unknown dynamic environments involving humans. Unlike existing navigation algorithms that assume full knowledge of the environment, i.e. position, direction and velocity of all obstacles, the proposed algorithm is only based on the local sensory information. The algorithm, inspired from pedestrian studies, has a proxemics-based...
This paper presents a collision avoidance algorithm based on the virtual target path-following guidance technique, developed for Unmanned Surface Vehicle (USV) multiagent frameworks. The proposed collision avoidance procedure is integrated with the distributed guidance module already developed for cooperative and coordinated navigation of USVs, in particular with Cooperative Path Following and Wingman-based...
This paper describes a method for computing the global time optimal path of a mobile robot navigating among obstacles subject to safe braking constraints. The paper first generalizes the classical Brachistochrone problem into a time optimal navigation problem, where the mobile robot navigates under a braking safety constraint near a point obstacle or a wall segment. The time optimal navigation problem...
The vision-based mechanisms that pedestrians in social groups use to navigate in dynamic environments, avoiding obstacles and each others, have been subject to a large amount of research in social anthropology and biological sciences. We build on recent results in these fields to develop a novel fully-distributed algorithm for robot local navigation, which implements the same heuristics for mutual...
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,...
This paper proposes a navigation algorithm that considers the states of humans and robots in order to achieve harmonious coexistence between them. A robot navigation in the presence of humans and other robots is rarely considered in the field of robotics. When navigating through a space filled with humans and robots with different functions, a robot should not only pay attention to obstacle avoidance...
Image-guided surgical systems and surgical robots are primarily developed to provide patient safety through increased precision and minimal invasiveness. Even more, robotic devices should allow for refined treatments that are not possible by other means. It is crucial to determine the accuracy of a system, to define the expected overall task execution error. A major step toward this aim is to quantitatively...
Mobile robots have to detect and handle a variety of potential hazards to navigate autonomously. We present a real-time stereo vision based mapping algorithm for identifying and modeling various hazards in urban environments - we focus on inclines, drop-offs, and obstacles. In our algorithm, stereo range data is used to construct a 3D model consisting of a point cloud with a 3D grid overlaid on top...
For a robot to move autonomously in an unknown dynamic environment, a real-time motion generation is necessary. Especially, safety motion generations are important. There are a lot of methods for making safe motion. For example, it is popular to check only around the robot with additional sensors and avoid obstacles detected by the sensors, though, the coordination problem between global trajectory...
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