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Reliable robust path planning with application to mobile robots

Romain Pepy, Michel Kieffer, Eric Walter (2009)

International Journal of Applied Mathematics and Computer Science

This paper is devoted to path planning when the safety of the system considered has to be guaranteed in the presence of bounded uncertainty affecting its model. A new path planner addresses this problem by combining Rapidly-exploring Random Trees (RRT) and a set representation of uncertain states. An idealized algorithm is presented first, before a description of one of its possible implementations, where compact sets are wrapped into boxes. The resulting path planner is then used for nonholonomic...

RGB-D terrain perception and dense mapping for legged robots

Dominik Belter, Przemysław Łabecki, Péter Fankhauser, Roland Siegwart (2016)

International Journal of Applied Mathematics and Computer Science

This paper addresses the issues of unstructured terrain modeling for the purpose of navigation with legged robots. We present an improved elevation grid concept adopted to the specific requirements of a small legged robot with limited perceptual capabilities. We propose an extension of the elevation grid update mechanism by incorporating a formal treatment of the spatial uncertainty. Moreover, this paper presents uncertainty models for a structured light RGB-D sensor and a stereo vision camera used...

Robust neural network control of robotic manipulators via switching strategy

Lei Yu, Shumin Fei, Jun Huang, Yongmin Li, Gang Yang, Lining Sun (2015)

Kybernetika

In this paper, a robust neural network control scheme for the switching dynamical model of the robotic manipulators has been addressed. Radial basis function (RBF) neural networks are employed to approximate unknown functions of robotic manipulators and a compensation controller is designed to enhance system robustness. The weight update law of the robotic manipulator is based on switched multiple Lyapunov function method and the periodically switching law which is suitable for practical implementation...

Robust quasi-LPV model reference FTC of a quadrotor UAV subject to actuator faults

Damiano Rotondo, Fatiha Nejjari, Vicenç Puig (2015)

International Journal of Applied Mathematics and Computer Science

A solution for fault tolerant control (FTC) of a quadrotor unmanned aerial vehicle (UAV) is proposed. It relies on model reference-based control, where a reference model generates the desired trajectory. Depending on the type of reference model used for generating the reference trajectory, and on the assumptions about the availability and uncertainty of fault estimation, different error models are obtained. These error models are suitable for passive FTC, active FTC and hybrid FTC, the latter being...

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