scholarly journals Advanced Trajectory Generator for Two Carts with RGB-D Sensor on Circular Rail

2019 ◽  
pp. 181-190 ◽  
Author(s):  
Ramón Panduro ◽  
Eva Segura ◽  
Lidia M. Belmonte ◽  
Paulo Novais ◽  
Jesús Benet ◽  
...  
Keyword(s):  
Trajectory Generator

scholarly journals Design of Hesitation Gestures for Nonverbal Human-Robot Negotiation of Conflicts

2021 ◽  
Vol 10 (3) ◽  
pp. 1-25
Author(s):  
Ajung Moon ◽  
Maneezhay Hashmi ◽  
H. F. Machiel Van Der Loos ◽  
Elizabeth A. Croft ◽  
Aude Billard
Keyword(s):  
Nonverbal Communication ◽  
Human Subjects ◽  
Human Robot Interaction ◽  
Robot Interaction ◽  
Resource Conflicts ◽  
Conflict Situations ◽  
Interaction Experiment ◽  
Characteristic Features ◽  
Trajectory Generator ◽  
Positive Results

When the question of who should get access to a communal resource first is uncertain, people often negotiate via nonverbal communication to resolve the conflict. What should a robot be programmed to do when such conflicts arise in Human-Robot Interaction? The answer to this question varies depending on the context of the situation. Learning from how humans use hesitation gestures to negotiate a solution in such conflict situations, we present a human-inspired design of nonverbal hesitation gestures that can be used for Human-Robot Negotiation. We extracted characteristic features of such negotiative hesitations humans use, and subsequently designed a trajectory generator (Negotiative Hesitation Generator) that can re-create the features in robot responses to conflicts. Our human-subjects experiment demonstrates the efficacy of the designed robot behaviour against non-negotiative stopping behaviour of a robot. With positive results from our human-robot interaction experiment, we provide a validated trajectory generator with which one can explore the dynamics of human-robot nonverbal negotiation of resource conflicts.

IDVD-based trajectory generator for autonomous underwater docking operations

2017 ◽  
Vol 92 ◽  
pp. 12-29 ◽  
Author(s):  
A.M. Yazdani ◽  
K. Sammut ◽  
O.A. Yakimenko ◽  
A. Lammas ◽  
Y. Tang ◽  
...  
Keyword(s):  
Underwater Docking ◽  
Trajectory Generator

Path Following System for Cooperative Mobile Robots

2010 ◽  
Vol 166-167 ◽  
pp. 161-166
Author(s):  
Ionut Dinulescu ◽  
Dorin Popescu ◽  
Mircea Nitulescu ◽  
Alice Predescu
Keyword(s):  
Artificial Intelligence ◽  
Mobile Robots ◽  
Path Following ◽  
Path Generation ◽  
Cooperative Robots ◽  
Generation System ◽  
Robot Systems ◽  
Simulation Results ◽  
Trajectory Generator

Recent advances in the domains of social and life artificial intelligence have constituted the basis for a new discipline that studies cooperation in multi-robot systems and its utility in applications where some tasks cannot be carried out by a single robot. This paper introduces a trajectory generator which is used for determination of the most appropriate trajectory which a robot needs to track in order to perform different tasks specific to cooperative robots, such as moving in a given formation or pushing an object to a given destination. Different algorithms are described in this paper, starting from simple polyline and circular paths to complex Bezier trajectories. Simulation results of the proposed path generation system are also provided, along with the description of its implementation on real mobile robots. An implementation of real robots is also presented in this paper.

DISCRETE SECOND ORDER TRAJECTORY GENERATOR WITH NONLINEAR CONSTRAINTS

2005 ◽  
Vol 38 (1) ◽  
pp. 200-205
Author(s):  
Riccardo Morselli ◽  
Roberto Zanasi ◽  
Stefano Stramigioli
Keyword(s):  
Second Order ◽  
Nonlinear Constraints ◽  
Trajectory Generator

Learning An Explainable Trajectory Generator Using The Automaton Generative Network (AGN)

2021 ◽  
pp. 1-1
Author(s):  
Xiao Li ◽  
Guy Rosman ◽  
Igor Gilitschenski ◽  
Brandon Araki ◽  
Cristian Ioan Vasile ◽  
...  
Keyword(s):  
Trajectory Generator

Real-Time Trajectory Generation and Reachability Determination in Autorotative Flare

2020 ◽  
Vol 65 (3) ◽  
pp. 1-17
Author(s):  
Brian F. Eberle ◽  
Jonathan D. Rogers
Keyword(s):  
Real Time ◽  
Trajectory Generation ◽  
Contact Theory ◽  
Simulation Environment ◽  
Order Model ◽  
Landing Point ◽  
Overall Performance ◽  
Simulation Results ◽  
Six Degree Of Freedom ◽  
Trajectory Generator

Autorotation maneuvers inherently offer little margin for error in execution and induce high pilot workload, particularly as the aircraft nears the ground in an autorotative flare. Control augmentation systems may potentially reduce pilot workload while simultaneously improving the likelihood of a successful landing by offering the pilot appropriate cues. This paper presents an initial investigation of a real-time trajectory generation scheme for autorotative flare based on time-to-contact theory. The algorithm exhibits deterministic runtime performance and provides a speed trajectory that can be tracked by a pilot or inner-loop controller to bring the vehicle to a desired landing point at the time of touchdown. A low-order model of the helicopter dynamics in autorotation is used to evaluate dynamic feasibility of the generated trajectories. By generating and evaluating trajectories to an array of candidate landing points, the set of reachable landing points in front of the aircraft is determined. Simulation results are presented in which the trajectory generator is coupled with a previously derived autorotation controller. Example cases and trade studies are conducted in a six degree-of-freedom simulation environment to demonstrate overall performance as well as robustness of the algorithm to variations in target landing point, helicopter gross weight, and winds. The robustness of the reachability determination portion of the algorithm is likewise evaluated through trade studies examining off-nominal flare entry conditions and the effects of winds.

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