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This paper presents a method for building a foothold selection module as well as methods for the stability check for a multi-legged walking robot. The foothold selection decision maker is shaped automatically, without expert knowledge. The robot learns how to select appropriate footholds by walking on rough terrain or by testing ground primitives. The gathered knowledge is then used to find a relation between slippages and the obtained local shape of the terrain, which is further employed to assess...
This paper addresses a sweep coverage problem of multi-robot networks with general topologies. To deal with environmental uncertainties, we present discrete time sweep coverage algorithms to guarantee the complete coverage of the given region by sweeping in parallel with workload partition. Moreover, the error between actual coverage time and the optimal time is estimated with the aid of continuous time results. Finally, numerical simulation is conducted to verify the theoretical results.
This work introduces how possibilistic regression can be used in the case of non symmetrical triangular membership functions, building a system of regressions, so that suitable restrictions for each particular problem can be incorporated. We apply this methodology to the problem of ecological inference, in particular to the estimation of the electoral transition matrix. An experimentation with several examples shows the benefits of the new approach.
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