For the problem of nonholonomic motion planning in the presence of obstacles, a path-iteration al... more For the problem of nonholonomic motion planning in the presence of obstacles, a path-iteration algorithm with an “exterior penalty” function has recently been proposed. The convergence of the iterative algorithm requires the avoidance of singular controls. With the inclusion of a penalty function, the set of singular control may increase substantially. In this paper, we propose a specific guideline for choosing the penalty function which does not introduce additional singular controls. In the case of the N-trailer system, this result can be used to guarantee the convergence of the path planning algorithm. To demonstrate the effectiveness of the proposed algorithm, simulation results are included
Wireless communication has been traditionally used in robotics to transmit sensory and telemetry ... more Wireless communication has been traditionally used in robotics to transmit sensory and telemetry information between a robot and a base station. Because research in mobile robotics has typically focused on navigation, mapping and sensor fusion, network oriented problems such as communication bandwidth optimization, coverage and fault tolerance are not usually considered in this context. The motivation behind this research is formulating and solving combined robot navigation issues (such as obstacle avoidance, environment mapping and coverage) with sensor network issues (such as congestion control, routing and node energy minimization). In this paper we present several types of algorithms for mobile wireless sensor nodes (MWSN) as well as experimental results with a fleet of mobile robots and sensors in our lab. The algorithms include adaptive sampling (AS) for distributed field estimation, potential fields (PF) for communication bandwidth optimization, and a discrete event controller (DEC) for mission planning
... have introduced mobility within the WSN problem in order to accomplish additional tasks such ... more ... have introduced mobility within the WSN problem in order to accomplish additional tasks such as object tracking [3, 17], target classification, distributed ... While multiple vehicle localization and sensor fusion are classic problems in robotics, distributed field variable estimation is ...
Journal of Micromechanics and Microengineering, 2005
From a controls point of view, micro electromechanical systems (MEMS) can be driven in an open-lo... more From a controls point of view, micro electromechanical systems (MEMS) can be driven in an open-loop and closed-loop fashion. Commonly, these
Public Reporting Burden for this collection of information is estimated to average 1 hour per res... more Public Reporting Burden for this collection of information is estimated to average 1 hour per response, including the time for reviewing instructions, searching existing data sources, gathering and maintaining the data needed, and completing and reviewing the collection of information. Send comment regarding this burden estimate or any other aspect of this collection of information, including suggesstions for reducing this burden, to Washington Headquarters Services, Directorate for Information Operations and Reports, 1215 Jefferson Davis Highway, Suite 1204, Arlington VA, 22202-4302, and to the Office of Management and Budget, Paperwork Reduction Project (0704-0188), Washington DC 20503
IEEE/ASME Journal of Microelectromechanical Systems, 2005
... Fellow, IEEE, Dereje Agonafer, Fellow, ASME, Edward S. Kolesar, Senior Member, IEEE, Mohammad... more ... Fellow, IEEE, Dereje Agonafer, Fellow, ASME, Edward S. Kolesar, Senior Member, IEEE, Mohammad Masum Hossain, and Dan ... [7] AA Geisberger, N. Sarkar, M. Ellis ... School of Hygiene and Public Health, Division of Environmental Health Engineering, Baltimore, MD; The United ...
For the problem of nonholonomic motion planning in the presence of obstacles, a path-iteration al... more For the problem of nonholonomic motion planning in the presence of obstacles, a path-iteration algorithm with an “exterior penalty” function has recently been proposed. The convergence of the iterative algorithm requires the avoidance of singular controls. With the inclusion of a penalty function, the set of singular control may increase substantially. In this paper, we propose a specific guideline for choosing the penalty function which does not introduce additional singular controls. In the case of the N-trailer system, this result can be used to guarantee the convergence of the path planning algorithm. To demonstrate the effectiveness of the proposed algorithm, simulation results are included
Wireless communication has been traditionally used in robotics to transmit sensory and telemetry ... more Wireless communication has been traditionally used in robotics to transmit sensory and telemetry information between a robot and a base station. Because research in mobile robotics has typically focused on navigation, mapping and sensor fusion, network oriented problems such as communication bandwidth optimization, coverage and fault tolerance are not usually considered in this context. The motivation behind this research is formulating and solving combined robot navigation issues (such as obstacle avoidance, environment mapping and coverage) with sensor network issues (such as congestion control, routing and node energy minimization). In this paper we present several types of algorithms for mobile wireless sensor nodes (MWSN) as well as experimental results with a fleet of mobile robots and sensors in our lab. The algorithms include adaptive sampling (AS) for distributed field estimation, potential fields (PF) for communication bandwidth optimization, and a discrete event controller (DEC) for mission planning
... have introduced mobility within the WSN problem in order to accomplish additional tasks such ... more ... have introduced mobility within the WSN problem in order to accomplish additional tasks such as object tracking [3, 17], target classification, distributed ... While multiple vehicle localization and sensor fusion are classic problems in robotics, distributed field variable estimation is ...
Journal of Micromechanics and Microengineering, 2005
From a controls point of view, micro electromechanical systems (MEMS) can be driven in an open-lo... more From a controls point of view, micro electromechanical systems (MEMS) can be driven in an open-loop and closed-loop fashion. Commonly, these
Public Reporting Burden for this collection of information is estimated to average 1 hour per res... more Public Reporting Burden for this collection of information is estimated to average 1 hour per response, including the time for reviewing instructions, searching existing data sources, gathering and maintaining the data needed, and completing and reviewing the collection of information. Send comment regarding this burden estimate or any other aspect of this collection of information, including suggesstions for reducing this burden, to Washington Headquarters Services, Directorate for Information Operations and Reports, 1215 Jefferson Davis Highway, Suite 1204, Arlington VA, 22202-4302, and to the Office of Management and Budget, Paperwork Reduction Project (0704-0188), Washington DC 20503
IEEE/ASME Journal of Microelectromechanical Systems, 2005
... Fellow, IEEE, Dereje Agonafer, Fellow, ASME, Edward S. Kolesar, Senior Member, IEEE, Mohammad... more ... Fellow, IEEE, Dereje Agonafer, Fellow, ASME, Edward S. Kolesar, Senior Member, IEEE, Mohammad Masum Hossain, and Dan ... [7] AA Geisberger, N. Sarkar, M. Ellis ... School of Hygiene and Public Health, Division of Environmental Health Engineering, Baltimore, MD; The United ...
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