Versatile reactive navigation

Tychonievich, Luther; Burton, Robert P.; Tychonievich, L.

doi:10.1109/iros.2009.5354752

Cited by 2 publications

(4 citation statements)

References 37 publications

(29 reference statements)

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“…Numerous kinematic planners that compute the shortest manoeuvring feasible path for vehicles explicitly considering vehicle dynamics is found in Moriwaki and Tanaka [12]; and similarly Werling et al [6] presented a search for an optimal path using dynamic simulations to determine the traversable or cost of specific terrain segments. Tychonevich et al [7] presented a work based on selecting a path that is ensured to be statically safe. Such approaches do not account for vehicle dynamics and speed.…”

Section: Introductionmentioning

confidence: 99%

Exponential Fields Formulation for WMR Navigation

Martínez‐García

Torres-Cordoba

2012

Applied Bionics and Biomechanics

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Abstract. In this manuscript, an autonomous navigation algorithm for wheeled mobile robots (WMR) operating in dynamic environments (indoors or structured outdoors) is formulated. The planning scheme is of critical importance for autonomous navigational tasks in complex dynamic environments. In fast dynamic environments, path planning needs algorithms able to sense simultaneously a diversity of obstacles, and use such sensory information to improve real-time navigation control, while moving towards a desired goal destination. The framework tackles 4 issues: 1) Reformulation of the Social Force Model (SFM) adapted to WMR; 2) the cohesion of a general inertial scheme to represents motion in any coordinate system; 3) control of actuators rotational speed as a general model regardless kinematic restrictions; 4) assuming detection of features (obstacles/goals), adaptive numeric weights are formulated to affect navigational exponential components. Simulation and experimental outdoors results are presented to show the feasibility of the proposed framework.

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Section: Introductionmentioning

confidence: 99%

Exponential Fields Formulation for WMR Navigation

Martínez‐García

Torres-Cordoba

2012

Applied Bionics and Biomechanics

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“…Another extension would be to handle other maneuverability constraints, such as collision avoidance. Such an extension would likely resemble the reciprocal velocity obstacle technique [67] extended to arbitrary maneuvers and uncertainty in a manner similar to the generalized reactive navigation method [66]. Conceptually all that is required is to insert these constraints into the Boolean expressions of polynomial inequalities; however, the assurance that some satisfying behavior exists will require additional investigation.…”

Section: Resultsmentioning

confidence: 99%

“…Reciprocal velocity obstacles [61,67] are cooperative, using the fact that each agent is executing the same algorithm to streamline agent behavior. Generalized reactive navigation [66] has mechanisms for explicitly considering all possible neighbor behaviors for any continuous geometric model of agent behavior. Both of these works informed the cohesion algorithms in Chapter 4.…”

Section: Related Work 13mentioning

confidence: 99%

“…My cohesion algorithm is similar to my earlier collision avoidance algorithm [66] in that it uses polynomial approximations to make an explicit mathematical statement of its objective computable. The approximations I use for cohesion are much more precise than they were for collision avoidance, requiring me to base the computational aspect on Bernstein polynomials instead of Sturm sequences.…”

Section: My Contributionsmentioning

confidence: 99%

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Providing Guaranteed Behaviors for Groups of Low-Capability Mobile Agents

Tychonievich

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I consider the problem of designing algorithms for coordinated groups of low-capability, errorprone mobile agents. It is my thesis that some important collective behaviors of groups of lowcapability mobile agents can be guaranteed by the application of provably-correct distributed algorithms. This thesis is demonstrated by the provision of new algorithms that guarantee mobile agent behavioral properties in the face of noise and agent error, as well as proofs that characterize the requirements of particular tasks. The contributions of this dissertation include both algorithms for solving classes of tasks that are foundational to processes involving groups of mobile agents and proofs regarding the impact limited capabilities have on the ability of agents to perform various tasks. The capability proofs lie in two principle areas. The first set of proofs relate to the differences between stigmergic and broadcast communication; these proofs bound the time and number of additional agents required to emulate broadcast communication using stigmergy. The second set of proofs bound the capabilities needed to ensure that agents are able to locate one another in an unknown environment. In addition to these stand-alone proofs, there are also proofs accompanying each algorithm presented. The main classes of tasks solved relate to agents forming and maintaining a group. A family i Abstract ii of algorithms is provided, each of which guarantees rendezvous in bounded time for some class of agent capabilities. For agents with bounded-error knowledge of time and place these rendezvous algorithms are within a logarithmic term of being asymptotically optimal. A technique is presented for generating pair-wise cohesion constraints for various agent types; these constraints provide each agent with a set of allowable behaviors that provably keep the agents connected. vi multiple objectives and constraints into a single behavioral policy. My time as a masters' student at Brigham Young University was invaluable, being my first experience with research and a broad introduction in many projects. My advisor, Robert P. Burton, gave me the freedom to begin exploring AI formally within the context of my thesis on simulations for multidimensional time. Formal mentoring roles given me by Robert P. Burton and Sean Warnick and research projects supervised by Robert P. Burton, Michael Jones, and Sean Warnick in several topics were educational experiences and invaluable in helping me to develop the maturity to stick to a single topic for the years required to attain a Ph.D. Finally, I am deeply indebted to the members of my family, my local church congregation, my fellow graduate students, and my Psandbox compatriots for their friendship and encouragement throughout. I researched without them, but they kept me sane as I did so.

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Versatile reactive navigation

Cited by 2 publications

References 37 publications

Exponential Fields Formulation for WMR Navigation

Exponential Fields Formulation for WMR Navigation

Providing Guaranteed Behaviors for Groups of Low-Capability Mobile Agents

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