Functional and modular organization of planning subsystems of mobile robot behaviour with partial uncertainty for the two-dimensional space

Author(s):  
A. O. Pyavchenko ◽  
V. A. Pereverzev ◽  
B. V. Gurenko
1996 ◽  
Vol 118 (1) ◽  
pp. 150-157
Author(s):  
Byung-Kwon Min ◽  
Dong Woo Cho ◽  
Sang-Jo Lee ◽  
Young-Pil Park

This paper suggests a new exploration strategy of an autonomous mobile robot in an unknown environment. Determination of a temporary goal based on a representation of work area named exploration quadtree is proposed. The exploration quadtree provides the information on quality of the regions concerned in a robot’s workspace. Using this quadtree the robot easily finds the next temporary goal that makes exploration more efficient. The quadtree is made up from a sonar probability map that is constructed by sonar range sensing and Bayesian probability theory. We then propose a method that plans a path between the determined temporary goals based on a probability map. The developed methods were implemented on a real mobile robot, AMROYS-II, which was built in our laboratory, and shown to be useful enough in a real environment that can be projected onto a two-dimensional space.


2018 ◽  
Vol 18 (2) ◽  
pp. 112-122
Author(s):  
Dmitry N. Aldoshkin ◽  
Roman Y. Tsarev

Abstract This paper proposes an algorithm that assesses the angular orientation of a mobile robot with respect to its referential position or a map of the surrounding space. In the framework of the suggested method, the orientation problem is converted to evaluating a dimensional rotation of the object that is abstracted as a polygon (or a closed polygonal chain). The method is based on Hough transform, which transforms the measurement space to a parametric space (in this case, a two-dimensional space [θ, r] of straight-line parameters). The Hough transform preserves the angles between the straight lines during rotation, translation, and isotropic scaling transformations. The problem of rotation assessment then becomes a one-dimensional optimization problem. The suggested algorithm inherits the Hough method’s robustness to noise.


Author(s):  
P. M. Pustovoit ◽  
E. G. Yashina ◽  
K. A. Pshenichnyi ◽  
S. V. Grigoriev

Author(s):  
Russell J. Dalton

This chapter uses the cleavage positions of Candidates to the European Parliament (CEPs) to as representative of their parties’ political positions. Three surveys of CEPs track the evolution of party supply in European party systems. In 1979 parties were primarily aligned along a Left–Right economic cleavage. Gradually new left and Green parties began to compete in elections and crystallized and represented liberal cultural policies. In recent decades new far-right parties arose to represent culturally conservative positions. The cross-cutting cultural cleavage has also prompted many of the established parties to alter their policy positions. In most multiparty systems, political parties now compete in a fully populated two-dimensional space. This increases the supply of policy choices for the voters. The analyses are based on the Candidates to the European Parliament Studies in 1979, 1994, and 2009.


2021 ◽  
Vol 11 (15) ◽  
pp. 7016
Author(s):  
Pawel S. Dabrowski ◽  
Cezary Specht ◽  
Mariusz Specht ◽  
Artur Makar

The theory of cartographic projections is a tool which can present the convex surface of the Earth on the plane. Of the many types of maps, thematic maps perform an important function due to the wide possibilities of adapting their content to current needs. The limitation of classic maps is their two-dimensional nature. In the era of rapidly growing methods of mass acquisition of spatial data, the use of flat images is often not enough to reveal the level of complexity of certain objects. In this case, it is necessary to use visualization in three-dimensional space. The motivation to conduct the study was the use of cartographic projections methods, spatial transformations, and the possibilities offered by thematic maps to create thematic three-dimensional map imaging (T3DMI). The authors presented a practical verification of the adopted methodology to create a T3DMI visualization of the marina of the National Sailing Centre of the Gdańsk University of Physical Education and Sport (Poland). The profiled characteristics of the object were used to emphasize the key elements of its function. The results confirmed the increase in the interpretative capabilities of the T3DMI method, relative to classic two-dimensional maps. Additionally, the study suggested future research directions of the presented solution.


Mathematics ◽  
2021 ◽  
Vol 9 (5) ◽  
pp. 531
Author(s):  
Pedro Pablo Ortega Palencia ◽  
Ruben Dario Ortiz Ortiz ◽  
Ana Magnolia Marin Ramirez

In this article, a simple expression for the center of mass of a system of material points in a two-dimensional surface of Gaussian constant negative curvature is given. By using the basic techniques of geometry, we obtained an expression in intrinsic coordinates, and we showed how this extends the definition for the Euclidean case. The argument is constructive and serves to define the center of mass of a system of particles on the one-dimensional hyperbolic sphere LR1.


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