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Towards physical dynamic tolerance: an approach to resolve the conflict between free will and physical determinism

Felix T Hong
2003 Biosystems (Amsterdam. Print)  
Thus, the mean of position and momentum specified by a non-deterministic law of motion gives the law its superficially deterministic behavior and predictability, whereas its dispersion grants dynamic tolerance  ...  This paper attempts to resolve the conflict between free will and determinism.  ...  law of motion (deterministic chaos).  ... 
doi:10.1016/s0303-2647(02)00089-8 pmid:12595111 fatcat:56ax5akutba2zdo23fujgpsdxu

Simplicial Label Correcting Algorithms for continuous stochastic shortest path problems

Dmitry S. Yershov, Steven M. LaValle
2013 2013 IEEE International Conference on Robotics and Automation  
A discrete-time stochastic state transition model is defined over a continuous state space.  ...  A relation to a "nearby" deterministic model is shown for small time steps; the cost-to-go function of the stochastic model is approximated with that of the deterministic model, and the approximation error  ...  The free space consists of all collision free configurations and is denoted as X free = X\X obs and is compact.  ... 
doi:10.1109/icra.2013.6631300 dblp:conf/icra/YershovL13 fatcat:gnykmfekibbwlojn23zzpvpsnm

Collision-free path planning for welding manipulator via hybrid algorithm of deep reinforcement learning and inverse kinematics

Jie Zhong, Tao Wang, Lianglun Cheng
2021 Complex & Intelligent Systems  
AbstractIn actual welding scenarios, an effective path planner is needed to find a collision-free path in the configuration space for the welding manipulator with obstacles around.  ...  In this paper, we propose a path planner for welding manipulators based on deep reinforcement learning for solving path planning problems in high-dimensional continuous state and action spaces.  ...  In [31] a continuous action space Deep-RL algorithm was used for navigation of a mobile robot in simulated environments and the authors believe that the continuous Deep-RL algorithm is an effective collision-free  ... 
doi:10.1007/s40747-021-00366-1 fatcat:dhk4567sond5hiogovbvpcweke

Insights into the superdiffusive dynamics through collision statistics in periodic Lorentz gas and Sinai billiard [article]

Valery B. Kokshenev, Eduardo Vicentini
2004 arXiv   pre-print
All the free-motion corridors are closed in LG with finite horizon ($R\geq L/2$) and the interplay between square and circle geometries results in the chaotic dynamics ensured by the normal Brownian diffusion  ...  Dynamic correlation effects for classical particles, initially distributed by random way, are considered within the scope of deterministic and stochastic descriptions.  ...  When the scatterer is absent, the deterministic description results in the ballistic motion given by the diffusion exponent z 0 = 1.  ... 
arXiv:math-ph/0405033v1 fatcat:tyqvjamb5ndd3da7z2j4cl62jq

Priority-based coordination of mobile robots [article]

Jean Gregoire
2014 arXiv   pre-print
We need to prove that for all α ∈ [0, 1], (a) H(α) is continuous, (b) satisfies (H(α)(0) − R n + ) ⊂ χ free and (c) (H(α)(1) + R n + ) ⊂ χ free , (d) is non-decreasing, and (e) is collision-free.  ...  Moreover, the flow of the system remains in χ free G in continuous time (see Equation (5.13)), i.e., no collision occurs and priorities are preserved.  ...  Le premier stipule que l'ensemble des chemins sans collision dans l'espace de configuration respectant des priorités données forme une classe de chemins homotopiques, c'est-à-dire continument déformables  ... 
arXiv:1410.0879v1 fatcat:bgziwqxcjnf2pmwrrojf2l6dle

Algorithmic issues in modeling motion

Pankaj K. Agarwal, Patrice Koehl, Ming Lin, Dinesh Manocha, Dimitris Metaxas, Brian Mirtich, David Mount, S. Muthukrishnan, Dinesh Pai, Elisha Sacks, Jack Snoeyink, Leonidas J. Guibas (+9 others)
2002 ACM Computing Surveys  
Planning Motion A typical motion-planning problem asks for computing a collision-free motion between two given placements of a given robot in a given environment.  ...  Planning a collision-free path thus reduces to connectivity and other topological questions in F .  ... 
doi:10.1145/592642.592647 fatcat:d54vzwg66fcjjjxl6hhdemo5zy

An Efficient Random Walk Strategy for Sampling Based Robot Motion Planners [chapter]

Titas Bera, M. Seetharama Bhat, Debasish Ghose
2010 Communications in Computer and Information Science  
The algorithm substantially reduces instances of collision checking and thereby decreases computational time.  ...  Despite the success of sampling based path planners, motion planning in high dimensional configuration space is still difficult.  ...  The motion planning problem is to find a continuous function f : [0, 1] → C f ree such that f (0) = x start and f (1) ∈ x goal . The constraints can be nonholonomic and/or differential in nature.  ... 
doi:10.1007/978-3-642-15810-0_30 fatcat:v6i4r7zpivgdpip7e6qqgn6r7m

The bio-inspired chaotic robot

Inaki Rano
2014 2014 IEEE International Conference on Robotics and Automation (ICRA)  
Inspired by previous works and using the obtained theoretical results, this paper proposes the free area perceived by a robot as a stimulus to generate collision free continuous chaotic motion on a bounded  ...  Grounded on the theoretical model of Braitenberg vehicle 2b, we build a stimulus function based on the perceived free area around the robot, that ensures collision free continuous motion within a bounded  ...  Finally, our last contribution is the design, implementation and test on a real robot of a Braitenberg controller which ensures collision avoidance with obstacles while continuously moving.  ... 
doi:10.1109/icra.2014.6906626 dblp:conf/icra/Rano14 fatcat:3c3grrao4ffwzguj2l7ia5faem

A survey of inter-vehicle communication protocols and their applications

Theodore Willke, Patcharinee Tientrakool, Nicholas Maxemchuk
2009 IEEE Communications Surveys and Tutorials  
The diversity of the applications and their potential communication protocols has challenged a systematic literature survey.  ...  The applications are divided into type classes which share common communication organization and performance requirements.  ...  avoidance (rights-based) [28] , [29] soft real-time deterministic medium small region persistent 4 Robot motion planning (global) [26] , [27] soft real-time deterministic medium-high small region  ... 
doi:10.1109/surv.2009.090202 fatcat:jihoorraxrdkpokbrhpbtwa7ty

On responsiveness, safety, and completeness in real-time motion planning

Kris Hauser
2011 Autonomous Robots  
among moving obstacles, and aggressive collision-free teleoperation of an industrial robot arm.  ...  The technique is proven to be safe and asymptotically complete in a deterministic environment and a static objective.  ...  We inject artificial latency into our network to demonstrate dynamically feasible, collision-free motion can be controlled in the presence of arbitrary network delays.  ... 
doi:10.1007/s10514-011-9254-z fatcat:jmtzj6dplze3pgjn3ayvhtez4q

Online Risk-Bounded Motion Planning for Autonomous Vehicles in Dynamic Environments [article]

Xin Huang, Sungkweon Hong, Andreas Hofmann, Brian C. Williams
2019 arXiv   pre-print
The intent recognition algorithm predicts the probabilistic hybrid motion states of each agent vehicle over a finite horizon using Bayesian filtering and a library of pre-learned maneuver motion models  ...  A crucial challenge to efficient and robust motion planning for autonomous vehicles is understanding the intentions of the surrounding agents.  ...  Two measurements are used to quantify the performance in terms of safety and efficiency: the percentage of collision-free turns and the average time to make turns among all collision-free turns.  ... 
arXiv:1904.02341v1 fatcat:mgv4mcotjvc7bcht62ndaoh5su

Past events never come back [article]

X. de Hemptinne
1999 arXiv   pre-print
When used as a variable in quantifying the changing properties of matter, this irreversibility of time is incompatible with Newton's deterministic mechanics and with its quantum mechanical prolongation  ...  objection attributing viscocity to collisional effects.B.  ...  At first, in the time separating collisions with the walls, the dynamics strictly follows the laws of deterministic mechanics, with conservation of energy and momentum.  ... 
arXiv:chao-dyn/9903010v1 fatcat:w6vqvmwwdbf3fjcctnifyo67fe

Real-time motion planning methods for autonomous on-road driving: State-of-the-art and future research directions

Christos Katrakazas, Mohammed Quddus, Wen-Hua Chen, Lipika Deka
2015 Transportation Research Part C: Emerging Technologies  
The main purpose of planning is to provide the vehicle with a safe and collision-free path towards its destination, while taking into account the vehicle dynamics, its manoeuvre capabilities in the presence  ...  Some promising areas of future focus have been identified as the use of vehicular communications (V2V and V2I) and the incorporation of transport engineering aspects in order to improve the look-ahead  ...  Difficulties in dealing with evasive manoeuvres Driving corridors Continuous collision free space for the vehicle to move Computational cost c Constraints on motion a Table 2 A 2 rapidly exploring  ... 
doi:10.1016/j.trc.2015.09.011 fatcat:btc6sghdk5fu3a7f6hw6ouuh34

Anytime Motion Planning on Large Dense Roadmaps with Expensive Edge Evaluations [article]

Shushman Choudhury, Oren Salzman, Sanjiban Choudhury, Christopher M. Dellin, Siddhartha S. Srinivasa
2017 arXiv   pre-print
We propose an algorithmic framework for efficient anytime motion planning on large dense geometric roadmaps, in domains where collision checks and therefore edge evaluations are computationally expensive  ...  in path length and collision probability.  ...  We will use them extensively for our analysis because they have been studied in the context of deterministic motion planning [21, 3] .  ... 
arXiv:1711.04040v1 fatcat:fs2fp7dkrbh5piakliib3zaegi

Multi-Robot Coverage and Persistent Monitoring in Sensing-Constrained Environments

Tauhidul Alam, Leonardo Bobadilla
2020 Robotics  
Our approach also computes periodic trajectories of all the robots for monitoring of some regions, where trajectories overlap but do not involve robot-robot collisions.  ...  in an environment by finding solutions which ensure that the robots' motions are collision-free (a form of implicit coordination).  ...  move continuously without stopping.  ... 
doi:10.3390/robotics9020047 fatcat:oqihnb5cr5fn7bdkxmxj3e5lvi
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