8 accepted papers
This letter proposes an approach that combines the use of sampling-based motion planning with machine learning algorithms. In particular, the asymptotically optimal planner <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">SST*</i> is used to generate
In this work, we study a sampling based motion planner able to deal with a kinodynamic problem. We want to move a robot from an initial state to a final one, along the minimum cost trajectory in an environment with obstacles. In particular, we study the effect of using extremal controls as the input
This letter addresses a visibility-based pursuit-evasion game. The pursuer’s task is to maintain the evader’s visibility continuously. The evader’s objective is to avoid the pursuer’s surveillance. Some contributions of this work are the following: 1) We present a pursuer’s motion strategy that can
This paper considers how the motions of a telepresence robot moving autonomously affect a person immersed in the robot through a head-mounted display. In particular, we explore the preference, comfort, and naturalness of elements of piecewise linear paths compared to the same elements on a smooth pa…
Autonomous landing of Unmanned Aerial Vehicles (UAVs) in crowded scenarios is crucial for successful deployment of UAVs in populated areas, particularly in emergency landing situations where the highest priority is to avoid hurting people. In this work, a new visual-based algorithm for identifying S
This letter introduces an emerging motion planning problem by considering a human that is immersed into the viewing perspective of a remote robot. The challenge is to make the experience both effective (such as delivering a sense of presence), and comfortable (such as avoiding adverse sickness sympt
Differential drive robots, such as robotic vacuums, often have at least two motion primitives: the ability to travel forward in straight lines, and rotate in place upon encountering a boundary. They are often equipped with simple sensors such as contact sensors or range finders, which allow them to…
In this paper, we address the pursuit/evasion problem of capturing an omnidirectional evader using a Differential Drive Robot (DDR) in an obstacle-free environment. The goal of the evader is to keep the pursuer farther than the capture distance for as long as possible and for the pursuer the goal is…