scholarly journals A Global Path Planner for Safe Navigation of Autonomous Vehicles in Uncertain Environments

Sensors ◽  
2020 ◽  
Vol 20 (21) ◽  
pp. 6103
Author(s):  
Mohammed Alharbi ◽  
Hassan A. Karimi
Keyword(s):  
Autonomous Vehicles ◽  
Dynamic Environments ◽  
Complex Dynamic ◽  
Uncertain Environments ◽  
Sensor Performance ◽  
Safe Navigation ◽  
Path Planner ◽  
Main Barrier ◽  
Safe Path

Autonomous vehicles (AVs) are considered an emerging technology revolution. Planning paths that are safe to drive on contributes greatly to expediting AV adoption. However, the main barrier to this adoption is navigation under sensor uncertainty, with the understanding that there is no perfect sensing solution for all driving environments. In this paper, we propose a global safe path planner that analyzes sensor uncertainty and determines optimal paths. The path planner has two components: sensor analytics and path finder. The sensor analytics component combines the uncertainties of all sensors to evaluate the positioning and navigation performance of an AV at given locations and times. The path finder component then utilizes the acquired sensor performance and creates a weight based on safety for each road segment. The operation and quality of the proposed path finder are demonstrated through simulations. The simulation results reveal that the proposed safe path planner generates paths that significantly improve the navigation safety in complex dynamic environments when compared to the paths generated by conventional approaches.

Transforming organizational culture in complex, dynamic environments for safety

2009 ◽  
Author(s):  
Sallie J. Weaver ◽  
Rebecca Lyons ◽  
Eduardo Salas ◽  
David A. Hofmann
Keyword(s):  
Organizational Culture ◽  
Dynamic Environments ◽  
Complex Dynamic

Real Time, Near-Optimal Trajectory Planning of an Omni-Directional Vehicle

2001 ◽  
Author(s):  
Tamás Kalmár-Nagy ◽  
Pritam Ganguly ◽  
Raffaello D’Andrea
Keyword(s):  
Real Time ◽  
Optimal Trajectory ◽  
Degrees Of Freedom ◽  
Dynamic Environments ◽  
Real Time Control ◽  
Uncertain Environments ◽  
Time Control ◽  
Innovative Method ◽  
Optimal Trajectory Planning ◽  
Three Degrees Of Freedom

Abstract In this paper, we discuss an innovative method of generating near-optimal trajectories for a robot with omni-directional drive capabilities, taking into account the dynamics of the actuators and the system. The relaxation of optimality results in immense computational savings, critical in dynamic environments. In particular, a decoupling strategy for each of the three degrees of freedom of the vehicle is presented, along with a method for coordinating the degrees of freedom. A nearly optimal trajectory for the vehicle can typically be calculated in less than 1000 floating point operations, which makes it attractive for real-time control in dynamic and uncertain environments.

scholarly journals Geometric and Bayesian models for safe navigation in dynamic environments

2007 ◽  
Vol 1 (1) ◽  
pp. 51-72 ◽  
Author(s):  
C. Laugier ◽  
Dizan Vasquez ◽  
M. Yguel ◽  
Th. Fraichard ◽  
O. Aycard
Keyword(s):  
Bayesian Models ◽  
Dynamic Environments ◽  
Safe Navigation

scholarly journals Intradialytic Aerobic Exercise in the United Arab Emirates: a Descriptive Study

2018 ◽  
Vol 3 (41) ◽  
pp. 18 ◽  
Author(s):  
Nada Salhab ◽  
Mirey Karavetian ◽  
Jeroen Kooman ◽  
Enrico Fiaccadori
Keyword(s):  
United Arab Emirates ◽  
Routine Practice ◽  
Borg Scale ◽  
Future Studies ◽  
Barriers To Exercise ◽  
Intradialytic Exercise ◽  
Main Barrier ◽  
Inflammation Score ◽  
Urea Reduction Ratio

Aim: Intradialytic exercise (IDE) improves hyperphosphatemia management in hemodialysis (HD) patient in addition to other clinical outcomes. The aim of the study is to present the strategies needed to integrate such a protocol in an HD unit in UAE and patients’ baseline characteristics.Methods: The largest HD unit in Sharjah emirate was chosen. All eligible patients (n=57) in the unit were included. Patients were stable adults HD patients who served as their own controls. The intervention included an aerobic low intensity IDE of 45 minutes per HD session, tailored to each patient’s fitness scale (BORG scale) for 6 months. Patients were educated on the importance of exercise. Outcome measures were barriers to exercise, serum phosphorus (P), urea reduction ratio (URR), malnutrition inflammation score, quality of life (QOL using euroqol5) collected at baseline and post intervention.Results: A total of 41 patients completed the study, 61% were males; 90.2%, 53.7% and 14.6% suffered from hypertension, diabetes and cardiovascular disease respectively. Hypherphosphatemia was prevalent among 75% of the patients with a mean of 5.76 ± 1.66 mg/dl. Mean age was 48 ± 14.37 years, BMI 24.98 ± 6.09 kg/m2, URR 71.88 ± 8.52%, and Kt/v 1.32 ± 1.09. The main barrier to exercise was identified to be fatigue on HD days by 58.5% of patients, followed by fear of getting hurt (36.6%). Finally, 80.4% of patients were mildly malnourished and QOL scale was 65.02% ± 18.54. Conclusion: Our study highlighted the widespread of hyperphosphatemia and malnutrition in our sample. The IDE regimen, if proven effective in future studies, could be integrated in the routine practice and may improve patients’ outcomes.  

scholarly journals Uncertainties in complex dynamic environments

2014 ◽  
Vol Volume 2 ◽  
Author(s):  
Hasmik Atoyan ◽  
Jean-Marc Robert ◽  
Jean-Rémi Duquet
Keyword(s):  
Decision Making ◽  
Decision Support ◽  
User Interfaces ◽  
Dynamic Environments ◽  
Decision Making Process ◽  
Uncertain Information ◽  
Complex Environments ◽  
Complex Dynamic ◽  
Different Types ◽  
Machine Systems

The utilization of Decision Support Systems (DSS) in complex dynamic environments leads the human operator almost inevitably to having to face several types of uncertainties. Thus it is essential for system designers to clearly understand the different types of uncertainties that could exist in human-machine systems of complex environments, to know their impacts on the operator's trust in the systems and decision-making process, and to have guidelines on how to present uncertain information on user interfaces. It is also essential for them to have an overview of the different stages, levels, and types of system automation, and to know their possible impacts on the creation of different types of uncertainties. This paper investigates these topics and aim at helping researchers and practitioners to deal with uncertainties in complex environments.

scholarly journals Bosnia and Herzegovina market research on the use of autonomous vehicles and drones in postal traffic

2021 ◽  
Vol 1 (2) ◽  
pp. 32-37
Author(s):  
Amel Kosovac ◽  
Ermin Muharemović ◽  
Alem Čolaković ◽  
Mirza Lakaca ◽  
Edvin Šimić
Keyword(s):  
Bosnia And Herzegovina ◽  
Autonomous Vehicles ◽  
Market Research ◽  
New Technologies ◽  
Rapid Development ◽  
Constant Change ◽  
To Come ◽  
Postal Sector ◽  
Business Sectors

New technologies primarily affect the lives of all people, their habits, needs, desires, but also significantly affect the demands placed on various business sectors. Discussions on the increasingly rapid development of technical-technological solutions that can be applied in the postal sector and logistics have a long history. New technologies in all areas bring a constant change in the relationship between companies and their customers, which significantly affect the quality of work and activities. In the years to come, it will be an increasing challenge for postal operators around the world, as well as for other companies, to achieve substantive communication and understanding of their customers through the application of innovative technologies. Understanding and learning about customer issues is key to offering them services that, with their precise targeting of stakeholders, quality, visibility, efficiency, and, perhaps most importantly, flexibility, will be able to meet needs that change so quickly over time. This will be possible with new technologies and innovative solutions. The paper presents a market research on the potential use of autonomous vehicles and drones in the postal sector in Bosnia and Herzegovina. The research is based on a survey questionnaire on the use of drones and autonomous vehicles in the postal sector in the segment of shipment delivery.

Multi-Robot SLAM in Dynamic Environments with Parallel Maps

2021 ◽  
pp. 2150011
Author(s):  
Sajad Badalkhani ◽  
Ramazan Havangi ◽  
Mohsen Farshad
Keyword(s):  
Large Scale ◽  
Dynamic Environment ◽  
Dynamic Environments ◽  
Extensive Literature ◽  
Real World Data ◽  
Data Set ◽  
Cooperative Approach ◽  
Localization And Mapping ◽  
Multi Robot

There is an extensive literature regarding multi-robot simultaneous localization and mapping (MRSLAM). In most part of the research, the environment is assumed to be static, while the dynamic parts of the environment degrade the estimation quality of SLAM algorithms and lead to inherently fragile systems. To enhance the performance and robustness of the SLAM in dynamic environments (SLAMIDE), a novel cooperative approach named parallel-map (p-map) SLAM is introduced in this paper. The objective of the proposed method is to deal with the dynamics of the environment, by detecting dynamic parts and preventing the inclusion of them in SLAM estimations. In this approach, each robot builds a limited map in its own vicinity, while the global map is built through a hybrid centralized MRSLAM. The restricted size of the local maps, bounds computational complexity and resources needed to handle a large scale dynamic environment. Using a probabilistic index, the proposed method differentiates between stationary and moving landmarks, based on their relative positions with other parts of the environment. Stationary landmarks are then used to refine a consistent map. The proposed method is evaluated with different levels of dynamism and for each level, the performance is measured in terms of accuracy, robustness, and hardware resources needed to be implemented. The method is also evaluated with a publicly available real-world data-set. Experimental validation along with simulations indicate that the proposed method is able to perform consistent SLAM in a dynamic environment, suggesting its feasibility for MRSLAM applications.

Fully Autonomous Vehicles for People with Visual Impairment

2021 ◽  
Vol 14 (3) ◽  
pp. 1-17
Author(s):  
Paul D. S. Fink ◽  
Jessica A. Holz ◽  
Nicholas A. Giudice
Keyword(s):  
Autonomous Vehicles ◽  
The United States ◽  
Economic Security ◽  
Policy Framework ◽  
Physical And Mental Health ◽  
Transportation Mode ◽  
Independent Travel ◽  
Negative Impacts ◽  
Number Of Individuals

A significant number of individuals in the United States report a disability that limits their ability to travel, including many people who are blind or visually impaired (BVI). The implications of restricted transportation result in negative impacts related to economic security, physical and mental health, and overall quality of life. Fully autonomous vehicles (FAVs) present a means to mitigate travel barriers for this population by providing new, safe, and independent travel opportunities. However, current policies governing interactions with the artificial intelligence (AI) ‘at the wheel’ of FAVs do not reflect the accessibility needs articulated by BVI people in the extant literature, failing to encourage use cases that would result in life changing mobility. By reviewing the legislative and policy efforts surrounding FAVs, we argue that the heart of this problem is due to a disjointed, laissez-faire approach to FAV accessibility that has yet to actualize the full benefits of this new transportation mode, not only for BVI people, but also for all users. We outline the necessity for a policy framework that guides the design of FAVs to include the concerns of BVI people and then propose legislative and design recommendations aimed to promote enhanced accessibility, transparency, and fairness during FAV travel.

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