Numerical Simulations for Planetary Rovers Safe Navigation and LIDAR Based Localization

Author(s):  
Anna Maria Gargiulo ◽  
Ivan Di Stefano ◽  
Antonio Genova
Author(s):  
Alexey A. Munishkin ◽  
Dejan Milutinović ◽  
David W. Casbeer

This paper develops a control that combines deterministic and stochastic optimal control solutions to the problem of safe navigation around a spherical obstacle in order to reach a way-point location. The solution for navigation towards the way-point is based on the deterministic minimum time optimal control. Since the intent of the obstacle is unknown to the navigating vehicle, the vehicle anticipates this uncertainty and uses a stochastic optimal control for navigation around the obstacle. The two navigation solutions are combined based on their value functions. Results are illustrated by numerical simulations.


2020 ◽  
Vol 640 ◽  
pp. A53
Author(s):  
L. Löhnert ◽  
S. Krätschmer ◽  
A. G. Peeters

Here, we address the turbulent dynamics of the gravitational instability in accretion disks, retaining both radiative cooling and irradiation. Due to radiative cooling, the disk is unstable for all values of the Toomre parameter, and an accurate estimate of the maximum growth rate is derived analytically. A detailed study of the turbulent spectra shows a rapid decay with an azimuthal wave number stronger than ky−3, whereas the spectrum is more broad in the radial direction and shows a scaling in the range kx−3 to kx−2. The radial component of the radial velocity profile consists of a superposition of shocks of different heights, and is similar to that found in Burgers’ turbulence. Assuming saturation occurs through nonlinear wave steepening leading to shock formation, we developed a mixing-length model in which the typical length scale is related to the average radial distance between shocks. Furthermore, since the numerical simulations show that linear drive is necessary in order to sustain turbulence, we used the growth rate of the most unstable mode to estimate the typical timescale. The mixing-length model that was obtained agrees well with numerical simulations. The model gives an analytic expression for the turbulent viscosity as a function of the Toomre parameter and cooling time. It predicts that relevant values of α = 10−3 can be obtained in disks that have a Toomre parameter as high as Q ≈ 10.


2007 ◽  
Vol 17 (4) ◽  
pp. 347-380 ◽  
Author(s):  
Mohammad P. Fard ◽  
Denise Levesque ◽  
Stuart Morrison ◽  
Nasser Ashgriz ◽  
J. Mostaghimi

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