A5075965099- Robotic Path Planning Algorithms
- Robotic Mechanisms and Dynamics
- Control and Dynamics of Mobile Robots
- Robotics and Sensor-Based Localization
- Formal Methods in Verification
- ECG Monitoring and Analysis
- IoT and Edge/Fog Computing
- Viral Infections and Vectors
- Advanced Software Engineering Methodologies
- Arduino and IoT Applications
- Innovative Human-Technology Interaction
- Aerospace Engineering and Energy Systems
- Inertial Sensor and Navigation
- AI-based Problem Solving and Planning
- Advanced Optical Sensing Technologies
- Robot Manipulation and Learning
- Vehicular Ad Hoc Networks (VANETs)
- MicroRNA in disease regulation
- Interactive and Immersive Displays
- Virtual Reality Applications and Impacts
- Usability and User Interface Design
- EEG and Brain-Computer Interfaces
- Augmented Reality Applications
- Image and Object Detection Techniques
- Distributed systems and fault tolerance
Budapest University of Technology and Economics
2010-2024
Kingston University
2023
Budapest Institute
1993
In this paper, we consider the speed planning problem for a robotic manipulator. particular, present an algorithm finding time-optimal law along assigned path that satisfies velocity and acceleration constraints respects maximum forces torques allowed by actuators. The addressed optimization is finite-dimensional reformulation of continuous-time problem, obtained discretizing profile with n points. proposed has linear complexity respect to number degrees freedom. Such best possible problem....
This paper is advocating for joint design of communication and control in cyber physical systems, especially self driving automobiles, exploiting adaptive next generation networking concepts such as mobile edge clouds 5G commu- nication systems. In this paper, we present our '5G connected- cars' testbed that was demonstrated multiple international events including the Mobile World Congress, Barcelona 2016. It constitutes a complete network architecture cloud software services facilitates...
This paper focuses on minimum-time path tracking, a subproblem in motion planning of robotic systems. We generate time-optimal velocity profile for manipulators taking into account kinematic and dynamic constraints. Based the special structure constraints (called peaked constraints), generation is formulated as linear programming (LP) problem. The LP-based control problem solved by sequential optimization method. presented algorithm has reduced computational time compared to general LP solver.
Time-optimal motion planning is one of the most essential problems in robotic theories. The presented direct transcription approach uses convex optimisation method to obtain a minimum-time control for robot manipulators. One subset waiter problem that consists moving tablet from place another as fast possible, avoiding slip object placed upon it. In this paper order solve problem. This path tracking also approximated by sequential two dimensional second-order cone programs (SOCP) using...
Line follower robots can be used for many important robotic and industrial tasks. One of the most factors in these methods is computational requirement algorithm. The paper presents a novel method line following problem using image processing technique. Our main goal to find an efficient way with real-time computing track camera-equipped robot. To measure effectiveness presented method, we compare two tracking being only difference between them. first robot uses proposed camera-based other...
In this paper we examine the minimum-time velocity profile generation problem which belongs to second stage of decoupled robot motion planning. The time-optimal can be translated a convex optimal control task through nonlinear change variables. When constraints have special structure, solution obtained by linear programming (LP). case, along path is maximised, instead time minimising. benefit LP lower computational time. Validation algorithm also presented based on simulation results.
This paper presents a comprehensive solution for path planning and control of two popular types autonomous wheeled vehicles. Differentially driven car-like motion systems are the most widespread structures among mobile robots. The algorithm employs rapidly exploring random tree based global planner (RTR), which generates paths made straight in place turning primitives. Such can be directly followed by differential drive robot. Carlike robots have minimum radius constraint, hence we present...
Time-optimal motion-planning has been a topic of active research in the literature for while. This paper presents new approach velocity profile generation, which is subproblem motion-planning. In case simplified constraints, generation can be translated to convex optimization problem. However, some practical constraints (e.g., velocity-dependent torque, viscous friction) destroy convexity. The proposed method obtain global optimum nonconvex experimental results with three degrees-of-freedom...
Object-oriented design patterns offer a structural and behavioral solution for given problem in context using basic building blocks. They are widely used software engineering as they promote extensibility, testability, maintainability reusability. However, besides their use, detection also has great significance the industry. This paper first presents general, programming language neutral model architecture automated pattern object-oriented source code. To validate recognition-capability of...
The need for intelligent autonomous vehicles is increasing in industrial and everyday life as well. Path planning among obstacles one of the challenging problems to be solved achieve navigation. In this paper we present a global geometric path method car-like robots, which proved effective especially cluttered environments, containing narrow passages. Navigation such scenarios usually requires non-obvious manoeuvring with many reversals, even human driver. We also comparative analysis our...
In this paper we present a number of available serialization libraries for the .NET platform, both integrated and 3rd party solutions analyze compare their performance. Through analysis comparison aim to deduct how process can be further optimized which parts act as bottleneck. The also gives insight into data exchange format itself affects whole process.
<title>Abstract</title> In this paper, we present a novel method for autonomous robotic exploration using car-like robot. The proposed uses the frontiers in map to build tree representing structure of environment aid goal-selection method. An augmentation is also which able manage loops environment. case, represented with graph structure. A generalization methods introduced simplify theoretical comparison between methods. Two experiments are described. first shows, that success Sensor-Based...
The design of remotely controlled and unmanned aerial system (UAS) is an important direction in modern aeronautics. Paragliders powered paragliders, as UAS may use successfully applications where stable, low speed flying mobility are required. This paper introduces a test platform developing for testing the different paragliders that planned to apply purposes: (i) sensor investigation calibration, (ii) measuring aerodynamic characteristics, (iii) subsystems, (iv) parameter state...
Path planning among obstacles for nonholonomic systems is a widely researched area nowadays, but it still one of the most challenging problems in autonomous navigation. We have recently presented rapidly exploring random tree based global planner (RTR) and steering method (C*CS) car-like vehicles, which uses circular straight movements. With aid these two methods possible to obtain feasible path, even narrow spaces situations requiring non-trivial maneuvers. This paper presents an improved...
Autonomous exploration of unknown environments using unmanned robots is a widely researched problem our days. The focus this paper to provide novel goal-selection method in response the problems simple greedy goal selection algorithm. presented uses tree structure built from detected frontiers and selects next depth-first search on expanding tree. This prevents exploring robot leaving half-explored areas backtracking them later exploration. tested two simulated environments. results are...
Originally, motion planning was concerned with problems such as how to move an object from a start goal position without hitting anything. Later, it has extended complications kinematics, dynamics, uncertainties, and also some optimality purpose minimum-time, minimum-energy planning. The paper presents time-optimal approach for robotic manipulators. A special area of is the waiter problem, in which tablet moved one place another fastas possible, avoiding slip that placed upon it. presented...
Planning for usability and a great user experience is crucial when developing applications touch-screen mobile devices. A good enables users to use the devices intuitively, steepening learning curve. But since these are new relative PC-s, developers do not have generally accepted toolset or knowledge-base analyze take into consideration habits. The goal of this paper address problem. First we define some fundamental criteria framework that can help collect data automatically. After having...
The paper examines the time-optimal path tracking problem which belongs to robot motion planning. goal is generate a velocity profile for robotic manipulators taking into account kinematic and dynamic constraints. In some cases, generation can be translated convex optimisation through non-linear change of variables. However, constraints cannot taken due they non-convex properties. presents method solve with these based on branch bound algorithm, it provides global solution in contrast...
We consider the speed planning problem for a robotic manipulator. In particular, we present an algorithm finding time-optimal law along assigned path that satisfies velocity and acceleration constraints respects maximum forces torques allowed by actuators. The addressed optimization is finite dimensional reformulation of continuous-time problem, obtained discretizing profile with N points. proposed has linear complexity respect to number degrees freedom. Such best possible this problem....
High-end components that conduct complicated tasks automatically are a part of modern industrial systems. However, in order for these parts to function at the desired level, they need be maintained by qualified experts. Solutions based on Augmented Reality (AR) have been established with goal raising production rates and quality while lowering maintenance costs. With introduction two unique interaction interfaces wearable targets human face orientation, we proposing hands-free advanced...