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Efficient manipulator collision avoidance by dynamic programming
Robotics and Computer-Integrated Manufacturing, 1991Abstract This paper describes a research effort in the area of collision avoidance path planning for robotic manipulators. A robotic arm with known geometry is to perform a spatial manipulation in the presence of known obstacles in its workspace. The task is to generate a series of waypoints for its path to pass through which will guarantee a safe ...
John Cesarone, Kornel F. Eman
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Predictive Collision Avoidance for the Dynamic Window Approach
2019 International Conference on Robotics and Automation (ICRA), 2019Foresighted navigation is an essential skill for robots to rise from rigid factory floor installations to much more versatile mobile robots that partake in our everyday environment. The current state of the art that provides this mobility to some extent is the Dynamic Window Approach combined with a global start-to-target path planner. However, neither
Marcell Missura, Maren Bennewitz
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Dynamic collision avoidance for redundant multi-robot systems
Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180), 2002This paper presents a new approach to the online planning of collision-free robot motions and evasive actions for redundant multi-robot/multi-obstacle environments. The approach, based on the collision avoidance methodology CARE (collision avoidance in real-time environments) presented by Rossmann (1993), is a local planning approach which considers ...
E. Freund, M. Schluse, J. Rossmann
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Smooth Collision Avoidance Trajectories: A Dynamic Collision Avoidance Algoritm for Mobile Robots
Volume 1: 25th Design Automation Conference, 1999Abstract This paper presents an algorithm for generating Smooth Collision Avoidance Trajectories (SCAT). SCAT generation is a method that allows a mobile robot that is moving along a pre-planned path to alter a section of its path, so that it may smoothly exit the original path, avoid a predicted collision, and return to the original ...
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Analytical formulation of impulsive collision avoidance dynamics
Celestial Mechanics and Dynamical Astronomy, 2013The paper deals with the problem of impulsive collision avoidance between two colliding objects in three dimensions and assuming elliptical Keplerian orbits. Closed-form analytical expressions are provided that accurately predict the relative dynamics of the two bodies in the encounter b-plane following an impulsive delta-V manoeuvre performed by one ...
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A new collision avoidance model for pedestrian dynamics*
Chinese Physics B, 2015Abstract The pedestrians can only avoid collisions passively under the action of forces during simulations using the social force model, which may lead to unnatural behaviors. This paper proposes an optimization-based model for the avoidance of collisions, where the social repulsive force is removed in favor of a search for the quickest ...
Qian-Ling Wang +4 more
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Collision Avoidance Dynamic Window Approach in Multi-agent System
2020 Chinese Automation Congress (CAC), 2020In multi-agent system formation switching, one common mission is to exchange positions of two agents. This scenario is prone to become a local minimum, since for each agent the direction to target and the direction of another agent movement are col-linear and opposite.
Letian Li, Wei Sheng
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Collision avoidance using gyroscopic forces for cooperative Lagrangian dynamical systems
2013 IEEE International Conference on Robotics and Automation, 2013In this paper we introduce a collision avoidance control strategy for groups of mobile robots moving in a three-dimensional environment, whose dynamics are described according to the Lagrangian model. The proposed strategy is based on the use of gyroscopic forces, that ensure obstacle avoidance without interfering with the convergence properties of the
SABATTINI, Lorenzo +2 more
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GIS Dynamic Display for Helicopter Collision Avoidance System
SAE Technical Paper Series, 2001<div class="htmlview paragraph">Helicopter collision avoidance system (HCAS) is implemented under geodetic information system (GIS) environment for display. The conflict avoidance algorithm can be effective if the global system for mobile communication (GSM)-based automatic dependent surveillance (ADS) can provide sufficient data communication ...
Chin E. Lin, Shih-Che Hung
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Asian Journal of Control, 2014
AbstractIn order to accomplish cooperative tasks, multi‐robot systems are required to communicate among each other. This inter‐robot communication can be modeled as a graph. Thus, maintaining the connectivity of the communication graph is a fundamental issue in cooperative robotic systems.
SABATTINI, Lorenzo +2 more
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AbstractIn order to accomplish cooperative tasks, multi‐robot systems are required to communicate among each other. This inter‐robot communication can be modeled as a graph. Thus, maintaining the connectivity of the communication graph is a fundamental issue in cooperative robotic systems.
SABATTINI, Lorenzo +2 more
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