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This paper discusses about the trajectory planning and controlled maneuvering of the vehicle in parking assist mode. The objective of the proposed algorithm is to use low-cost hardware like ultrasonic sensor in order to provide automated parking assist to the vehicle. The concept of grid occupancy is formulated in free space detection algorithm to compute lateral-longitudinal grid cell vacancy. The...
The System Wide Information Management (SWIM) is to achieve system-wide interoperability and enable seamless information sharing for global Air Traffic Management (ATM). In this paper, to improve aircraft tracking accuracy, the SWIM concept-oriented information integration based on the Big Data analysis is discussed. By incorporating the trajectory information into the aircraft tracking system, the...
For two-qubit systems with a degenerate measurement operator, this paper presents a control approach to achieve rapid stabilization to a target Bell state. This approach uses two control channels where the control laws associated with these two channels are designed as a constant and a switching control law, respectively. In the control scheme, the system state space is divided into two parts: the...
This paper concentrates on the distance-based formation control problem in three-dimensional space. The objective is to achieve and maintain the formation of overall group of a multi-agent system, whose interaction graph is acyclic minimally persistent. The gradient-based control law derived from a class of potential functions is considered to address this problem. The trajectories of agents converge...
This work addresses a technique for robot motion planning and navigation in dynamic environments. First, a model to represent the future evolution of the moving obstacles in the environment is defined in a robocentric reference, which maps the obstacle motion on the control space, the velocity-time space, of the robot. Second, a planning technique working on that model for navigation and maneuvering...
We examine a two-player, zero-sum, differential turret defense game, which consists of two players, a mobile Attacker and a stationary Defender. The Attacker is modeled as a mobile agent moving with a constant speed about a infinite, two-dimensional plane, and it is capable of making instantaneous changes in direction. The Defender is modeled as a stationary target located at the origin, and it is...
The paper presents a concept of factitious force method used for controlling a 3R space manipulator. It was shown that the method works for a rigid manipulator where one of the joints is damaged and can not be controlled. It is important for space applications to have some means of control while the system is compromised. Control law has been proposed for the task of trajectory tracking and practical...
This paper proposes an extension of the concept of the General Lagrangian Jacobian Inverse from driftless to control affine robotic systems, and presents the corresponding Jacobian motion planning algorithm in the parametric form. A specific choice of the Lagrangian is recommended. The motion planning algorithm is applied to the motion planning problem of a free-floating space manipulator with non-zero...
Hybrid zero dynamics-based control is a promising framework for controlling underactuated biped robots and powered prosthetic legs. In this control paradigm, stable walking gaits are implicitly encoded in polynomial output functions of the robot configuration variables, which are to be zeroed via feedback. The biped output functions are parameterized by a suitable mechanical phasing variable whose...
This paper addresses the optimal kinematic control problem of the mobile manipulators. A computationally simple class of the Jacobian transpose control algorithms is proposed for the end-effector trajectory tracking. These controllers use a new non-singular Terminal Sliding Mode (TSM) manifold, as being a non-linear integral mapping of the second order with respect to the task space tracking error...
This paper addresses the trajectory tracking problem which will be regarded as an open-loop planning problem, in contrast to various feedback motion control methods. The trajectory tracking problem is formulated as the constrained motion planning problem, whereas constraints reflect the distance in the task space between the system output and the desired trajectory. The problem consists in defining...
We present a path planning method for computing optimal parking maneuvers for road vehicles, operating in a known environment in the presence of static obstacles. The proposed approach is based on the numerical solution of the Hamilton-Jacobi-Bellman equations and allows finding the minimum length trajectory with a number of direction changes bounded by an assigned constant. Various numerical tests...
Parking is one basic function of autonomous vehicles. However, parking still remains difficult to be implemented, since it requires to generate a relatively long-term series of actions to reach a certain objective under complicated constraints. One recently proposed method used deep neural networks(DNN) to learn the relationship between the actual parking trajectories and the corresponding steering...
Controlling a bicycle without human interaction is still a challenge for researchers. Most of the studies on this topic focus on the physical area of bicycle or designing controllers based on automatic control knowledge such as feedback controller, LQR controller. This study focuses on applying a state-of-the-art deep reinforcement learning algorithm called Deep Deterministic Policy Gradient to control...
Many of the existing motion planning algorithms require the free space to be decomposed into convex obstacle-free regions. This paper presents an algorithm for generating such regions. The algorithm is based on stereographic projection. The algorithm requires relatively simple computations, compared with some of the known methods. Three applications of the algorithm were demonstrated: motion planning...
The paper describes an approach to learning feedback control of a robot manipulator, based on partitioning of the joint space into segments. Within each segment the robot is controlled as a decoupled linear system by means of conventional PID controllers. To achieve continuity of control variables the segments are represented as fuzzy sets. The controller settings are adapted by online identification...
A new concept of avoidance map is introduced which can effectively execute collision avoidance among UAVs. It is based upon representation of the effect of control effort by pairs of UAVs on achievement of avoidance, thus partitioning the control effort space into avoidance and collision regions. To do this, it is demonstrated that collision avoidance can be carried out by applying constant acceleration...
This paper describes the 4-Dimensional Trajectory (4DT) optimisation algorithm implemented to avoid a variety Global Navigation Satellite System (GNSS) signal degradations predicted by Avionics Based Integrity Augmentation system (ABIA). The paper focusses on descent and initial curved GNSS approach phases in a dense Terminal Manoeuvring Area (TMA) scenario, with multiple aircraft converging on the...
The problem of regulation oscillatory modes with set characteristics in a controlled subsystem by means of the amplitude of oscillations of the control generator is considered. The control generator is connected with the system control object in a nonlinear feedback mode. The structure of control functions, which depends on the variables of the controlled subsystem is studied for the control generator...
The article deals with the constructions of building manipulators with new constructive features and providing a wide range of working space and great load-carrying and lifting capacity. The demands to space oriented manipulatable mechanisms (SOMM) are based, the structural synthesis is fulfilled. Kinematic characteristics providing maximum working space are based. The way of SOMM control providing...
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