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Relevant bibliographies by topics / Dynamic Modeling, Collision Avoidance, Hybrid Systems

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Journal articles
Dissertations / Theses
Book chapters
Conference papers

Academic literature on the topic 'Dynamic Modeling, Collision Avoidance, Hybrid Systems'

Author: Grafiati

Published: 11 March 2023

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Journal articles on the topic "Dynamic Modeling, Collision Avoidance, Hybrid Systems"

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Fan, Tingxiang, Pinxin Long, Wenxi Liu, and Jia Pan. "Distributed multi-robot collision avoidance via deep reinforcement learning for navigation in complex scenarios." International Journal of Robotics Research 39, no. 7 (2020): 856–92. http://dx.doi.org/10.1177/0278364920916531.

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Developing a safe and efficient collision-avoidance policy for multiple robots is challenging in the decentralized scenarios where each robot generates its paths with limited observation of other robots’ states and intentions. Prior distributed multi-robot collision-avoidance systems often require frequent inter-robot communication or agent-level features to plan a local collision-free action, which is not robust and computationally prohibitive. In addition, the performance of these methods is not comparable with their centralized counterparts in practice. In this article, we present a decentr

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Moon, Jungho, Byung-Yoon Lee, and Min-Jea Tahk. "A Hybrid Dynamic Window Approach for Collision Avoidance of VTOL UAVs." International Journal of Aeronautical and Space Sciences 19, no. 4 (2018): 889–903. http://dx.doi.org/10.1007/s42405-018-0061-z.

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Yang, Zhen, Junli Li, Liwei Yang, Qian Wang, Ping Li, and Guofeng Xia. "Path planning and collision avoidance methods for distributed multi-robot systems in complex dynamic environments." Mathematical Biosciences and Engineering 20, no. 1 (2022): 145–78. http://dx.doi.org/10.3934/mbe.2023008.

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<abstract> <p>Multi-robot systems are experiencing increasing popularity in joint rescue, intelligent transportation, and other fields. However, path planning and navigation obstacle avoidance among multiple robots, as well as dynamic environments, raise significant challenges. We propose a distributed multi-mobile robot navigation and obstacle avoidance method in unknown environments. First, we propose a bidirectional alternating jump point search A* algorithm (BAJPSA*) to obtain the robot's global path in the prior environment and further improve the heuristic function to enhance

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Park, Jaeyong, Arda Kurt, and Ümit Özgüner. "Hybrid Systems Modeling and Reachability-Based Controller Design Methods for Vehicular Automation." Unmanned Systems 02, no. 02 (2014): 101–19. http://dx.doi.org/10.1142/s2301385014500071.

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In this study, applicability of verification and correct-by-design hybrid systems modeling and reachability-based controllers for vehicular automation are investigated. Two perspectives in hybrid systems modeling will be introduced, and then reachability analysis techniques will be developed to compute exact reachable sets from a specified unsafe set. Using level set methods, a Hamilton–Jacobi–Isaacs equation is derived whose solutions describe the boundaries of the finite time backward reachable set, which will be manipulated to design a safe controller that guarantees the safety of a given s

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Omisore, Olatunji Mumini, Shipeng Han, Yousef Al-Handarish, et al. "Motion and Trajectory Constraints Control Modeling for Flexible Surgical Robotic Systems." Micromachines 11, no. 4 (2020): 386. http://dx.doi.org/10.3390/mi11040386.

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Success of the da Vinci surgical robot in the last decade has motivated the development of flexible access robots to assist clinical experts during single-port interventions of core intrabody organs. Prototypes of flexible robots have been proposed to enhance surgical tasks, such as suturing, tumor resection, and radiosurgery in human abdominal areas; nonetheless, precise constraint control models are still needed for flexible pathway navigation. In this paper, the design of a flexible snake-like robot is presented, along with the constraints model that was proposed for kinematics and dynamics

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Ajeil, Fatin Hassan, Ibraheem Kasim Ibraheem, Ahmad Taher Azar, and Amjad J. Humaidi. "Autonomous navigation and obstacle avoidance of an omnidirectional mobile robot using swarm optimization and sensors deployment." International Journal of Advanced Robotic Systems 17, no. 3 (2020): 172988142092949. http://dx.doi.org/10.1177/1729881420929498.

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The present work deals with the design of intelligent path planning algorithms for a mobile robot in static and dynamic environments based on swarm intelligence optimization. Two modifications are suggested to improve the searching process of the standard bat algorithm with the result of two novel algorithms. The first algorithm is a Modified Frequency Bat algorithm, and the second is a hybridization between the Particle Swarm Optimization with the Modified Frequency Bat algorithm, namely, the Hybrid Particle Swarm Optimization-Modified Frequency Bat algorithm. Both Modified Frequency Bat and

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Maw, Aye Aye, Maxim Tyan, Tuan Anh Nguyen, and Jae-Woo Lee. "iADA*-RL: Anytime Graph-Based Path Planning with Deep Reinforcement Learning for an Autonomous UAV." Applied Sciences 11, no. 9 (2021): 3948. http://dx.doi.org/10.3390/app11093948.

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Path planning algorithms are of paramount importance in guidance and collision systems to provide trustworthiness and safety for operations of autonomous unmanned aerial vehicles (UAV). Previous works showed different approaches mostly focusing on shortest path discovery without a sufficient consideration on local planning and collision avoidance. In this paper, we propose a hybrid path planning algorithm that uses an anytime graph-based path planning algorithm for global planning and deep reinforcement learning for local planning which applied for a real-time mission planning system of an aut

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Finaev, V. I., M. Yu Medvedev, V. Kh Pshikhopov, V. A. Pereverzev, and V. V. Soloviev. "Unmanned Powerboat Motion Terminal Control in an Environment with Moving Obstacles." Mekhatronika, Avtomatizatsiya, Upravlenie 22, no. 3 (2021): 145–54. http://dx.doi.org/10.17587/mau.22.145-154.

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The major point for consideration throughout this paper is controlling the motion of an unmanned powerboat in an obstructed environment with stationary and moving objects. It offers a procedure for the terminal control law development based on the powerboat programmed motion trajectory in a polynomial form and proposes position-trajectory-based control algorithms. A hybrid method based on virtual fields and unstable driving modes, taking into account powerboat speeds and obstacles, is used to plan motion trajectories for obstacle avoidance. There were experiments carried out to test the develo

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Dai, Wei, Yongjun Pan, Chuan Min, Sheng-Peng Zhang, and Jian Zhao. "Real-Time Modeling of Vehicle’s Longitudinal-Vertical Dynamics in ADAS Applications." Actuators 11, no. 12 (2022): 378. http://dx.doi.org/10.3390/act11120378.

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The selection of an appropriate method for modeling vehicle dynamics heavily depends on the application. Due to the absence of human intervention, the demand for an accurate and real-time model of vehicle dynamics for intelligent control increases for autonomous vehicles. This paper develops a multibody vehicle model for longitudinal-vertical dynamics applicable to advanced driver assistance (ADAS) applications. The dynamic properties of the chassis, suspension, and tires are considered and modeled, which results in accurate vehicle dynamics and states. Unlike the vehicle dynamics models built

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Hafez, Ahmed T., and Mohamed A. Kamel. "Cooperative Task Assignment and Trajectory Planning of Unmanned Systems Via HFLC and PSO." Unmanned Systems 07, no. 02 (2019): 65–81. http://dx.doi.org/10.1142/s2301385019500018.

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This paper investigates the problems of cooperative task assignment and trajectory planning for teams of cooperative unmanned aerial vehicles (UAVs). A novel approach of hierarchical fuzzy logic controller (HFLC) and particle swarm optimization (PSO) is proposed. Initially, teams of UAVs are moving in a pre-defined formation covering a specified area. When one or more targets are detected, the teams send a package of information to the ground station (GS) including the target’s degree of threat, degree of importance, and the separating distance between each team and each detected target. Based

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Dissertations / Theses on the topic "Dynamic Modeling, Collision Avoidance, Hybrid Systems"

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Vesentini, Federico, Luca Di Persio, and Riccardo Muradore. "Collision avoidance and dynamic modeling for wheeled mobile robots and industrial manipulators." Doctoral thesis, 2022. http://hdl.handle.net/11562/1068427.

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Collision Avoidance and Dynamic Modeling are key topics for researchers dealing with mobile and industrial robotics. A wide variety of algorithms, approaches and methodologies have been exploited, designed or adapted to tackle the problems of finding safe trajectories for mobile robots and industrial manipulators, and of calculating reliable dynamics models able to capture expected and possible also unexpected behaviors of robots. The knowledge of these two aspects and their potential is important to ensure the efficient and correct functioning of Industry 4.0 plants such as automated warehous

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Book chapters on the topic "Dynamic Modeling, Collision Avoidance, Hybrid Systems"

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Kim, J. H., S. Okuma, S. Hayakawa, et al. "Modeling of Driver's Collision Avoidance Behavior Based on Expression as Hybrid Dynamical System." In Systems and Human Science. Elsevier, 2005. http://dx.doi.org/10.1016/b978-044451813-2/50026-9.

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Conference papers on the topic "Dynamic Modeling, Collision Avoidance, Hybrid Systems"

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Gan, Xusheng, Yarong Wu, Pingni Liu, and Qian Wang. "Dynamic Collision Avoidance Zone Modeling Method Based on UAV Emergency Collision Avoidance Trajectory." In 2020 IEEE International Conference on Artificial Intelligence and Information Systems (ICAIIS). IEEE, 2020. http://dx.doi.org/10.1109/icaiis49377.2020.9194915.

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Yi, Xiongfeng, Zheng Chen, and Animesh Chakravarthy. "Cooperative Collision Avoidance Control of Robotic Fish Propelled by a Servo/IPMC Driven Hybrid Tail." In ASME 2019 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2019. http://dx.doi.org/10.1115/dscc2019-9228.

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Abstract This paper develops and demonstrates cooperative collision avoidance control on two robotic fish propelled by a servo motor and an ionic polymer-metal composite (IPMC)-driven fish tail. First, experiments conducted on a servo motor/IPMC-driven fish demonstrate an impulsive turning behavior in the fish’s trajectory under the application of a specific frequency, amplitude of the servo motor, and a constant voltage on the IPMC joint. These experiments validate the ‘back relaxation’ of the IPMC joint by observing the angular velocity and the centripetal acceleration of the fish. This impu

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Mahani, Maziar Fooladi, and Yue Wang. "Trust-Based Runtime Verification for Multi-Quad-Rotor Motion Planning With a Human-in-the-Loop." In ASME 2018 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/dscc2018-9174.

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In this paper, we propose a trust-based runtime verification (RV) framework for deploying multiple quad-rotors with a human-in-the-loop (HIL). By bringing together approaches from runtime verification, trust-based decision-making, human-robot interaction (HRI), and hybrid systems, we develop a unified framework that is capable of integrating human cognitive skills with autonomous capabilities of multi-robot systems to improve system performance and maximize the intuitiveness of the human-robot-interaction. On top of the RV framework, we utilize a probabilistic trust inference model as the key

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Zhu, Xiaoyuan, Jian Chen, Yan Ma, Jianqiang Deng, and Yuexuan Wang. "Predictive Motion Planning for Autonomous Vehicles With Geometric Constraints via Convex Optimization." In ASME 2020 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2020. http://dx.doi.org/10.1115/dscc2020-3169.

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Abstract In this paper, we propose an MPC-based motion planning algorithm, including a decision-making module, an obstacle-constraints generating module, and an MPC-based planning module. The designed decision module effectively distinguishes between structured and unstructured roads and processes them separately, so that the algorithm is more robust in different environments. Besides, the movement of obstacles is considered in the decision-making and obstacle constraints generating module. By processing obstacles with lateral and longitudinal speed separately, obstacle avoidance can be done i

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Matveev, Konstantin I. "Modeling of Autonomous Hydrofoil Craft Avoiding Moving Obstacles." In SNAME Maritime Convention. SNAME, 2022. http://dx.doi.org/10.5957/smc-2022-017.

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Hydrodynamic arrangements of most autonomous surface marine vessels belong to conventional displacement-type monohulls or catamarans. Applications of advanced hydrodynamic concepts, such as considered here hydrofoils, can help unmanned marine craft operate efficiently at higher speeds and have better seakeeping. However, dynamics of such boats are rather complex. In this work, a 6-DOF dynamics model with engineering correlations for hydrodynamic forces is applied to simulate motions of an autonomous hydrofoil craft. Collision avoidance maneuvers based on introduction of a dynamic waypoint outs

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Abbaspour, Adel, Hadi Zare Jafari, Mohammad Ali Askari Hemmat, and Khalil Alipour. "Redundancy Resolution for Singularity Avoidance of Wheeled Mobile Manipulators." In ASME 2014 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2014. http://dx.doi.org/10.1115/imece2014-38639.

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Mobile robots consist of a mobile platform with manipulator can provide interesting functionalities in a number of applications, since, combination of platform and manipulator causes robot operates in extended work space. The analysis of these systems includes kinematics redundancy that makes more complicated problem. However, it gives more feasibility to robotic systems because of the existence of multiple solutions in a specified workspace. This paper presents a novel combination of evolutionary algorithms and artificial potential field theory for motion planning of mobile manipulator which

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