Timed trajectory generation for a toy-like wheeled robot

Silva, Jorge; Matos, Vitor; Santos, Cristina P.

doi:10.1109/iecon.2010.5676132

Cited by 8 publications

(9 citation statements)

References 13 publications

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“…Typical approaches in literature for generating timed controls are based on the dynamical system theory, as a consequence of the several advantages provided by this theory [13]. Herein, related research concerning to timed trajectories has been verified in several scopes such as: learning by demonstration [9], movements for biped and quadruped location [12], rehabilitation [10] and movement for wheeled robots [11], [15].…”

Section: State Of the Artmentioning

confidence: 99%

“…A nonlinear dynamical system (see [6]) is used to merge the obstacle avoidance and goal seeking contributions and to provide the direction ϕ h , that the robot has to follow. The timing control is responsible for generating the suitable velocity v that makes the robot to complete successfully its task within the specified time frame, MT (s), through the Landau-Stuart oscillator (see for instance [15]). Conditions for the stability of this navigation architecture were already derived by applying nonlinear analysis and control theory viewpoints [14].…”

Section: Dynamical Systems Based Architecturementioning

confidence: 99%

“…where m and n are the state variables, ω specifies the frequency of oscillations, O m controls the m solution offset and µ encodes the amplitude of the oscillations (see [15] for details).…”

Section: Timing Controlmentioning

confidence: 99%

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Developing a timed navigation architecture for hospital delivery robots

Silva

Santos

Sequeira

2013

2013 IEEE 3rd Portuguese Meeting in Bioengineering (ENBENG)

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In hospitals, typical tasks of delivering goods between different locations are usually done by auxiliary staff. With the development of robotic technologies, such tasks can be performed by mobile robots releasing the staff effort to other tasks. In order to successfully complete the tasks of delivering goods inside hospitals, mobile robots should be able to generate trajectories free of collisions. In addition, including timing constraints to the generated trajectories has not been addressed in most current robotic systems, and it is critical in robotic tasks as human-robot interaction. Including timing constraints means to obey to the planned movement time, despite diversified environmental conditions or perturbations. In this paper we aim to develop a navigation architecture with timing constraints based on a mesh of nonlinear dynamical systems and feedthrough maps for wheeled mobile robots. A simulated hospital environment and a wheeled robot pioneer 3-DX are used to demonstrate the robustness and reliability of the proposed architecture in cluttered, dynamic and uncontrolled hospital scenarios.

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Section: State Of the Artmentioning

confidence: 99%

Section: Dynamical Systems Based Architecturementioning

confidence: 99%

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Developing a timed navigation architecture for hospital delivery robots

Silva

Santos

Sequeira

2013

2013 IEEE 3rd Portuguese Meeting in Bioengineering (ENBENG)

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“…For instance, if the robot has to complete a sequence of missions, the next mission is only initiated after the previous one has been terminated. An overview of the temporal stabilization mechanism can be viewed in [1]. Temporal stabilization is not limited to mobile navigation and other robotic frameworks have addressed temporal stabilization of movements to perform rhythmic actions, such as drumming [2], juggling [3], and human-robot interaction scenarios [4,5].…”

Section: Introductionmentioning

confidence: 99%

Field Results of a Navigation Architecture with Timing Constraints

Silva

Sequeira

Santos

2015

Journal of Robotics

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This paper presents results of field tests of a mobile robot controlled by a navigation architecture accounting for timing constraints in an indoor environment. Dependability properties characterize the effects of disturbances on the ability to successfully accomplish any assigned missions, described in terms of the stability of an equilibrium state identified with a goal location. The stability is analyzed using Contraction theory. A localization system based on artificial landmarks is used to obtain location estimates that enable the robot to autonomously cover large distances. Monte Carlo tests assess the architecture under different real environment conditions including recovering from disturbing events such as landmark detection failures, robot kidnapping, unexpected collisions, and changes in the density of obstacles in the environment. Tests include long-run missions of around 2900 m lasting for 4.5 hours.

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“…However, the target was defined geographically and using vision to detect targets makes the application more realistic. Thus, in (Silva et al, 2010b) the sensory loop was closed by online acquiring the location of the target.…”

Section: Introductionmentioning

confidence: 99%

Timed Trajectory Generation for a Vision-based Autonomous Mobile Robot in Cluttered Environments

Silva¹,

Santos²,

Sequeira³

2012

Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics

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An autonomous mobile robot should find feasible trajectories in order to avoid collisions with obstacles in its environment. This ability to plan collision-free trajectories requires two major aspects: modulation and generation of trajectories. This is especially important if temporal stabilization of the generated trajectories is considered. Temporal stabilization means to conform to the planned movement time, in spite of diversified environmental conditions or perturbations. This timing problem applied for wheeled vehicles has not been addressed in most current robotic systems. Herein, we extend our previous work by integrating an architecture able to generate timed trajectories for a wheeled mobile robot, whose goal is to reach a target location within a specified time, independently of the world complexity.

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Timed trajectory generation for a toy-like wheeled robot

Cited by 8 publications

References 13 publications

Developing a timed navigation architecture for hospital delivery robots

Developing a timed navigation architecture for hospital delivery robots

Field Results of a Navigation Architecture with Timing Constraints

Timed Trajectory Generation for a Vision-based Autonomous Mobile Robot in Cluttered Environments

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