Relevant bibliographies by topics / Local motion planner

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  1. Journal articles
  2. Dissertations / Theses
  3. Book chapters
  4. Conference papers

Academic literature on the topic 'Local motion planner'

Author: Grafiati
Published: 29 June 2021
Last updated: 9 February 2022

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Journal articles on the topic "Local motion planner"

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Karakaya, Suat, and Hasan Ocak. "A Novel Local Motion Planner: Navibug." Journal of Intelligent & Robotic Systems 100, no. 3-4 (August 17, 2020): 987–1003. http://dx.doi.org/10.1007/s10846-020-01239-4.

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Yoshida, Eiichi, Satoshi Murata, Akiya Kamimura, Kohji Tomita, Haruhisa Kurokawa, and Shigeru Kokaji. "Motion Generation for a Modular Robot." Journal of Robotics and Mechatronics 14, no. 2 (April 20, 2002): 177–85. http://dx.doi.org/10.20965/jrm.2002.p0177.

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We discuss motion generation of a homogeneous modular robot called a Modular Transformer (M-TRAN). Modules are designed to be self-reconfigurable so a collection of modules can transform itself into a robotic structure. The motion generation of the self-reconfigurable robot presents a computationally difficult problem due to the many combinatorial possibilities for the module configuration, even though the module itself is simple, with 2 degrees of freedom. We describe a motion generation for a class of multimodule structures based on a motion planner and a motion scheduler. The motion planner has 2 layers, with a global planner to plan overall movement of the cluster and a local planner to determine locally coordinated module motions, called motion schemes. After motion is generated as a sequence of single motion schemes, the motion scheduler processes the output plan to allow parallel motions to improve efficiency. The effectiveness of the motion generator is verified through a multiple-module simulation.
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Hoshino, Satoshi, and Kenichiro Uchida. "Interactive Motion Planning for Mobile Robot Navigation in Dynamic Environments." Journal of Advanced Computational Intelligence and Intelligent Informatics 21, no. 4 (July 20, 2017): 667–74. http://dx.doi.org/10.20965/jaciii.2017.p0667.

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In dynamic environments, taking static and moving obstacles into consideration in motion planning for mobile robot navigation is a technical issue. In this paper, we use a single mobile robot, for which humans are moving obstacles. Since moving humans sometimes get in the way of the robot, it must avoid collisions with them. Furthermore, if a part of the environment is crowded with humans, it is better for the robot to detour around the congested area. For this navigational challenge, we focus on the interaction between humans and the robot, so this paper proposes a motion planner for successfully getting through the human-robot interaction. The interactive motion planner is based on the hybrid use of global and local path planners. Furthermore, the local path planner is executed repetitively during the navigation. Through the human-robot interaction, the robot is enabled not only to avoid the collisions with humans but also to detour around congested areas. The emergence of this movement is the main contribution of this paper. We discuss the simulation results in terms of the effectiveness of the proposed motion planner for robot navigation in dynamic environments that include humans.
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Garrido, S., L. Moreno, D. Blanco, and M. L. Munoz. "Sensor-based global planning for mobile robot navigation." Robotica 25, no. 2 (March 2007): 189–99. http://dx.doi.org/10.1017/s0263574707003384.

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SUMMARYThe proposed algorithm integrates in a single planner the global motion planning and local obstacle avoidance capabilities. It efficiently guides the robot in a dynamic environment. This eliminates some of the traditional problems of planned architectures (model-plan-act scheme) while obtaining many of the qualities of behavior-based architectures. The computational efficiency of the method allows the planner to operate at high-rate sensor frequencies. This avoids the need for using both a collision-avoidance algorithm and a global motion planner for navigation in a cluttered environment. The method combines map-based and sensor-based planning operations to provide a smooth and reliable motion plan. Operating on a simple grid-based world model, the method uses a fast marching technique to determine a motion plan on a Voronoi extended transform extracted from the environment model. In addition to this real-time response ability, the method produces smooth and safe robot trajectories.
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Vass, Gábor, Béla Lantos, and Shahram Payandeh. "Object Reconfiguration with Dextrous Robot Agents." Journal of Advanced Computational Intelligence and Intelligent Informatics 10, no. 2 (March 20, 2006): 234–40. http://dx.doi.org/10.20965/jaciii.2006.p0234.

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This paper addresses an object manipulation planning algorithm for dextrous robot systems consisting a multifingered hand and a robotic manipulator. A method has been developed for object reconfiguration design. The result is a new algorithm using artificial intelligence based on simulated annealing and A* search. The upper level of the manipulation system, the global planner generates the motion of the object. The lower level, the local planner deals with the motion of the agents relative to the object and the design of the contact forces. The local planner is based on simulated annealing, thus the the local minima can be avoided in the energy function of the motion with high probability. Application of the algorithm has been discussed for three robot arms.
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Lin, Chien-Chou, Kun-Cheng Chen, and Wei-Ju Chuang. "Motion Planning Using a Memetic Evolution Algorithm for Swarm Robots." International Journal of Advanced Robotic Systems 9, no. 1 (January 1, 2012): 19. http://dx.doi.org/10.5772/45669.

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A hierarchical memetic algorithm (MA) is proposed for the path planning and formation control of swarm robots. The proposed algorithm consists of a global path planner (GPP) and a local motion planner (LMP). The GPP plans a trajectory within the Voronoi diagram (VD) of the free space. An MA with a non-random initial population plans a series of configurations along the path given by the former stage. The MA locally adjusts the robot positions to search for better fitness along the gradient direction of the distance between the swarm robots and the intermediate goals (IGs). Once the optimal configuration is obtained, the best chromosomes are reserved as the initial population for the next generation. Since the proposed MA has a non-random initial population and local searching, it is more efficient and the planned path is faster compared to a traditional genetic algorithm (GA). The simulation results show that the proposed algorithm works well in terms of path smoothness and computation efficiency.
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Hong, Sun-Gi, and Ju-Jang Lee. "A local motion planner for car-like robots in a cluttered environment." Artificial Life and Robotics 1, no. 1 (March 1997): 39–42. http://dx.doi.org/10.1007/bf02471111.

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McConachie, Dale, Andrew Dobson, Mengyao Ruan, and Dmitry Berenson. "Manipulating deformable objects by interleaving prediction, planning, and control." International Journal of Robotics Research 39, no. 8 (June 19, 2020): 957–82. http://dx.doi.org/10.1177/0278364920918299.

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We present a framework for deformable object manipulation that interleaves planning and control, enabling complex manipulation tasks without relying on high-fidelity modeling or simulation. The key question we address is when should we use planning and when should we use control to achieve the task? Planners are designed to find paths through complex configuration spaces, but for highly underactuated systems, such as deformable objects, achieving a specific configuration is very difficult even with high-fidelity models. Conversely, controllers can be designed to achieve specific configurations, but they can be trapped in undesirable local minima owing to obstacles. Our approach consists of three components: (1) a global motion planner to generate gross motion of the deformable object; (2) a local controller for refinement of the configuration of the deformable object; and (3) a novel deadlock prediction algorithm to determine when to use planning versus control. By separating planning from control we are able to use different representations of the deformable object, reducing overall complexity and enabling efficient computation of motion. We provide a detailed proof of probabilistic completeness for our planner, which is valid despite the fact that our system is underactuated and we do not have a steering function. We then demonstrate that our framework is able to successfully perform several manipulation tasks with rope and cloth in simulation, which cannot be performed using either our controller or planner alone. These experiments suggest that our planner can generate paths efficiently, taking under a second on average to find a feasible path in three out of four scenarios. We also show that our framework is effective on a 16-degree-of-freedom physical robot, where reachability and dual-arm constraints make the planning more difficult.
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Tian, Yuan, and Feng Gao. "Efficient motion generation for a six-legged robot walking on irregular terrain via integrated foothold selection and optimization-based whole-body planning." Robotica 36, no. 3 (November 6, 2017): 333–52. http://dx.doi.org/10.1017/s0263574717000418.

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SUMMARYIn this paper, an efficient motion planning method is proposed for a six-legged robot walking on irregular terrain. The method provides the robot with fast-generated free-gait motions to traverse the terrain with medium irregularities. We first of all introduce our six-legged robot with legs in parallel mechanism. After that, we decompose the motion planning problem into two main steps: first is the foothold selection based on a local footstep cost map, in which both terrain features and the robot mobility are considered; second is a whole-body configuration planner which casts the problem into a general convex optimization problem. Such decomposition reduces the complexity of the motion planning problem. Along with the two-step planner, discussions are also given in terms of the robot-environmental relationship, convexity of constraints and robot rotation integration. Both simulations and experiments are carried out on typical irregular terrains. The results demonstrate effectiveness of the planning method.
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Looi, Chen Zheng, and Danny Wee Kiat Ng. "A Study on the Effect of Parameters for ROS Motion Planer and Navigation System for Indoor Robot." International Journal of Electrical and Computer Engineering Research 1, no. 1 (June 15, 2021): 29–36. http://dx.doi.org/10.53375/ijecer.2021.21.

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In the past decades, the service robot industry had risen rapidly. The office assistant robot is one type of service robot used to assist officers in an office environment. For the robot to navigate autonomously in the office, navigation algorithms and motion planners were implemented on these robots. Robot Operating System (ROS) is one of the common platforms to develop these robots. The parameters applied to the motion planners will affect the performance of the Robot. In this study, the global planners, A* and Dijkstra algorithm and local planners, Dynamic Window Approach (DWA) and Time Elastic Band (TEB) algorithms were implemented and tested on a robot in simulation and a real environment. Results from the experiments were used to evaluate and compare the performance of the robot with different planners and parameters. Based on the results obtained, the global planners, A* and Dijkstra algorithm both can achieve the required performance for this application whereas TEB outperforms DWA as the local planner due to its feasibility in avoiding dynamic obstacles in the experiments conducted.
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Dissertations / Theses on the topic "Local motion planner"

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Mohamed, Zozk. "Analys av metoder för lokal rörelseplanering." Thesis, Örebro universitet, Institutionen för naturvetenskap och teknik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:oru:diva-92687.

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Under senare år har vi med hjälp av robotar som använder rörelseplanering kunnat automatisera olika processer och uppgifter. Idag finns det väldigt få strategier för lokal rörelseplanering vid jämförelse med global rörelseplanering. Syftet med det här projektet har varit att analysera tre strategier för lokal rörelseplanering, dessa har varit Dynamic Window Approach (DWA), Elastic Band (Eband) och Timed Elastic Band (TEB).I projektet har styrkor, svagheter, beteenden och förbättringsmöjligheter för respektive strategi studerats närmare genom att utföra olika simulerade tester. I testerna mätes tid för att nå mål, antal kollisioner och antalet gånger som målet nåddes. Under projektet användes en virtuell allriktad robot från ABB för att testa strategierna. Testerna genomfördes på ett så rättvist sätt som möjligt, där alla strategier fick samma antal försök och hade samma information om robotens begränsningar.Resultatet visar att TEB är den snabbaste strategin, följt av DWA och sista Eband som var den långsammaste strategin. TEB var också den strategi som presterade bäst vid dynamiska hinder, däremot var den också den strategi som kolliderade mest i testerna, medan Eband kolliderade minst.
In recent years, we have been able to automate various processes and tasks with the help of robots that use motion planning. Today, there are very few strategies for local motion planning when compared to global motion planning. The purpose of this project has been to analyze three strategies for local motion planning, these have been Dynamic Window Approach (DWA), Elastic Band (Eband) and Timed Elastic Band (TEB).In the project, strengths, weaknesses, behaviours and opportunities for improvement for each strategy have been studied in more detail by performing various simulated tests. The tests measure time to reach the goal, the number of collisions and the number of succeeding attempts. During the project, a virtual omni-directional robot from ABB was used to perform the tests. The tests were performed in as fair a way as possible, where all strategies got the same number of attempts and had the same information about the robot's limitations.The results show that TEB is the fastest strategy, followed by DWA and last Eband that was the slowest strategy. TEB was also the strategy that performed best in dynamic obstacles, however, it was also the strategy that collided most of the tests, while Eband collided the least.
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Rahman, S. M. Rayhan. "Performance of local planners with respect to sampling strategies in sampling-based motion planning." Thesis, McGill University, 2011. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=96891.

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Automatically planning the motion of rigid bodies moving in 3D by translation and rotation in the presence of obstacles has long been a research challenge for mathematicians, algorithm designers and roboticists. The field made dramatic progress with the introduction of the probabilistic and sampling-based "roadmap" approach. However, motion planning when narrow passages are present has remained a challenge. This thesis presents a framework for experimenting with combinations of sampling strategies and local planners, and for comparing their performance on user defined input problems. Our framework also allows parallel implementations on a variable number of processing cores. We present experimental results. In particular, our framework has allowed us to find combinations of sampling strategy choice with local planner choice that can solve difficult benchmark motion planningproblems.
La planification automatique du mouvement de corps rigides en mouvement 3D par translation et rotation en présence d'obstacles a longtemps été un défi pour la recherche pour les mathématiciens, les concepteurs de l'algorithme et roboticiens. Le champ a fait d'importants progrès avec l'introduction de la méthode de "feuille de route" probabiliste basée sur l'échantillonnage. Mais la planification du mouvement en présence de passages étroits est resté un défi.Cette thése présente un cadre d'expérimentation avec des combinaisons de stratégies d'échantillonnage et les planificateurs locaux, et de comparaison de leurs performances sur des problémes définis par l'utilisateur. Notre programme peut également être exécuté parallèle sur un nombre variable de processeurs. Nous présentons des résultats expérimentaux. En particulier, notre cadre nous a permis de trouver des combinaisons de choix d'une stratégie d'échantillonnage avec choix de planificateur local qui peut résoudre des problèmes difficiles de référence.
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Manavi, Kasra Mehron. "Medial Axis Local Planner: Local Planning for Medial Axis Roadmaps." Thesis, 2012. http://hdl.handle.net/1969.1/ETD-TAMU-2012-05-11191.

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In motion planning, high clearance paths are favorable due to their increased visibility and reduction of collision risk such as the safety of problems involving: human- robot cooperation. One popular approach to solving motion planning problems is the Probabilistic Roadman Method (PRM), which generates a graph of the free space of an environment referred to as a roadmap. In this work we describe a new approach to making high clearance paths when using PRM The medial axis is useful for this since it represents the set of points with maximal clearance and is well defined in higher dimensions. However it can only be computed exactly in workspace. Our goal is to generate roadmaps with paths following the medial axis of an environment without explicitly computing the medial axis. One of the major steps of PRM is local planning: the planning of motion between two nearby nodes PRMs have been used to build roadmaps that have nodes on the medial axis but so far there has been no local planner method proposed for connecting these nodes on the medial axis. These types of high clearance motions are desirable and needed in many robotics applications. This work proposes Medial Axis Local Planner (MALP), a local planner which attempts to connect medial axis configurations via the medial axis. The recursive method takes a simple path between two medial axis configurations and attempts to deform the path to fit the medial axis. This deformation creates paths with high clearance and visibility properties. We have implemented this local planner and have tested it in 2D and 3D rigid body and 8D and 16D fixed base articulated linkage environments. We compare MALP with a straight-line local planner (SL), a typical local planer used in motion planning that interpolated along a line in the planning space. Our results indicate that MALP generated higher clearance paths than SL local planning. As a result, MALP found more connections and generated fewer connected components as compared to connecting the same nodes using SL connections. Using MALP connects noes on the medial axis, increasing the overall clearance of the roadmap generated.
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Book chapters on the topic "Local motion planner"

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Gibson, C. G., W. Hawes, and C. A. Hobbs. "Local Pictures for General Two-parameter Planar Motions." In Advances in Robot Kinematics and Computational Geometry, 49–58. Dordrecht: Springer Netherlands, 1994. http://dx.doi.org/10.1007/978-94-015-8348-0_5.

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Rosen, Jay. "A renormalized local time for multiple intersections of planar brownian motion." In Séminaire de Probabilités XX 1984/85, 515–31. Berlin, Heidelberg: Springer Berlin Heidelberg, 1986. http://dx.doi.org/10.1007/bfb0075738.

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Le Gall, Jean-François. "Exponential moments for the renormalized self-intersection local time of planar brownian motion." In Lecture Notes in Mathematics, 172–80. Berlin, Heidelberg: Springer Berlin Heidelberg, 1994. http://dx.doi.org/10.1007/bfb0073845.

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Zolnikov, Konstantin P., Dmitrij S. Kryzhevich, and Aleksandr V. Korchuganov. "Regularities of Structural Rearrangements in Single- and Bicrystals Near the Contact Zone." In Springer Tracts in Mechanical Engineering, 301–22. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-60124-9_14.

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AbstractThe chapter is devoted to the analysis of the features of local structural rearrangementsin nanostructured materialsunder shear loadingand nanoindentation. The study was carried out using molecular dynamics-based computer simulation. In particular, we investigated the features of symmetric tilt grain boundary migration in bcc and fcc metals under shear loading. The main emphasis was on identifying atomic mechanisms responsible for the migration of symmetric tilt grain boundaries. We revealed that grain boundaries of this type can move with abnormally high velocities up to several hundred meters per second. The grain boundary velocity depends on the shear rate and grain boundary structure. It is important to note that the migration of grain boundary does not lead to the formation of structural defects. We showed that grain boundary moves in a pronounced jump-like manner as a result of a certain sequence of self-consistent displacements of grain boundary atomic planes and adjacent planes. The number of atomic planes involved in the migration process depends on the structure of the grain boundary. In the case of bcc vanadium, five planes participate in the migration of the Σ5(210)[001] grain boundary, and three planes determine the Σ5(310)[001] grain boundary motion. The Σ5(310)[001] grain boundary in fcc nickel moves as a result of rearrangements of six atomic planes. The stacking order of atomic planes participating in the grain boundary migration can change. A jump-like manner of grain boundary motion may be divided into two stages. The first stage is a long time interval of stress increase during shear loading. The grain boundary is motionless during this period and accumulates elastic strain energy. This is followed by the stage of jump-like grain boundary motion, which results in rapid stress drop. The related study was focused on understanding the atomic rearrangements responsible for the nucleation of plasticity near different crystallographic surfaces of fcc and bcc metals under nanoindentation. We showed that a wedge-shaped region, which consists of atoms with a changed symmetry of the nearest environment, is formed under the indentation of the (001) surface of the copper crystallite. Stacking faults arise in the (111) atomic planes of the contact zone under the indentation of the (011) surface. Their escape on the side free surface leads to a step formation. Indentation of the (111) surface is accompanied by nucleation of partial dislocations in the contact zone subsequent formation of nanotwins. The results of the nanoindentation of bcc iron bicrystal show that the grain boundary prevents the propagation of structural defects nucleated in the contact zone into the neighboring grain.
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Jiang, Lihua, and Mingcong Deng. "Support Vector Machine Based Mobile Robot Motion Control and Obstacle Avoidance." In Meta-Heuristics Optimization Algorithms in Engineering, Business, Economics, and Finance, 223–51. IGI Global, 2013. http://dx.doi.org/10.4018/978-1-4666-2086-5.ch008.

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Considering the noise effect during the navigation of a two wheeled mobile robot, SVM and LS-SVM based control schemes are discussed under the measured information with uncertainty, and in the different environments. The noise effect is defined as uncertainty in the measured data. One of them focuses on using a potential function and constructing a plane surface for avoiding the local minima in the static environments, where the controller is based on Lyapunov function candidate. Another one addresses to use a potential function and to define a new detouring virtual force for escaping from the local minima in the dynamic environments. Stability of the control system can be guaranteed. However, the motion control of the mobile robot would be affected by the noise effect. The SVM and LS-SVM for function estimation are used for estimating the parameter in the proposed controllers. With the estimated parameter, the noise effect during the navigation of the mobile robot can be reduced.
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Meel, Priyanka, Ritu Tiwari, and Anupam Shukla. "Optimization of Focused Wave Front Algorithm in Unknown Dynamic Environment for Multi-Robot Navigation." In Rapid Automation, 553–81. IGI Global, 2019. http://dx.doi.org/10.4018/978-1-5225-8060-7.ch026.

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Robotics is a field which includes multiple disciplines such as environment mapping, localization, path planning, path execution, area exploration etc. Path planning is the elementary requirement for all the above mentioned diversified fields. This paper presents a new method for motion planning of mobile robots which carry forward the best features of Focused Wave Front and other wave front based path planners, at the same time optimizes the algorithm in terms of path length, energy consumption and memory requirements. This research introduces a method of choosing every next step in grid based environment and also proposes a backtracking procedure to minimize turns by means of identifying landmark points in the path. Further, the authors have enhanced the functionality of Focused Wave Front algorithm by applying it in uncertain dynamic environment. The proposed method is a combination of global and local path planning as well as online and offline navigation process. A new method based on bidirectional wave propagation along the walls of obstacle and wall following behavior is being proposed for avoiding uncertain static obstacles. Considering the criticalness of moving obstacles a colored safety zone is assumed to have around them and the robot is equipped with color sensitivity. Based on the particular color (red, green, yellow) that has sensed the robot will make intelligent decisions to avoid them. The simulation result reflects how the proposed method has efficiently and safely navigates a robot towards its destination by avoiding all known and unknown obstacles. Finally the algorithms are extended for multi-robot environment.
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Mkhytaryan, Olha, and Inna Rodionova. "FORMATION OF READING COMPETENCE OF FUTURE DICTIONARIES IN THE CONTEXT OF TECHNOLOGICAL LEARNING (ON THE EXAMPLE OF ANALYSIS OF POETRY BY M. DRY-KHMARY)." In Trends of philological education development in the context of European integration. Publishing House “Baltija Publishing”, 2021. http://dx.doi.org/10.30525/978-9934-26-069-8-8.

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The article reveals the conceptual, semantic and procedural aspects of the application of pedagogical technologies in the process of forming the reading competence of students of philology in classes on the history of Ukrainian literature during the study of Ukrainian neoclassicists. The notion of pedagogical technologies, reading competence of future linguists, neoclassicism is specified and their explanation in the field of methods of teaching Ukrainian literature is given. Thus, the interpretation of reading competence is based on establishing relationships between similar concepts of competencies and competencies, according to which reading competence is interpreted as a social norm alienated from the subject to the student’s educational training necessary for his quality productive activity in reading. Instead, it is proposed to call reading competence the acquired ability of a student acquired in the process of teaching literature, consisting of knowledge, skills, experience, values and attitudes, which are fully realized in the process of practice. In addition, the interpretation of reading competence as a subject and as a component of the professional competence of the future vocabulary allowed to outline a number of important for future vocabulary reading competencies. Modeling the development of students’ reading competence by means of a work of art is proposed to be carried out on the basis of problem-based learning technologies, group work and local technology of problem-style analysis. The peculiarities of integrated teaching of literary, psychological, pedagogical and methodological disciplines are revealed, in particular the importance of purposeful formation of innovative consciousness of students during their mastering of literary courses by detailed description of step - by - step procedure of achievement of planned didactic goal is emphasized. A notable feature of the procedural part of the technologicalization of the pedagogical process is the optimal interaction of forms of traditional and innovative learning. Theoretical provisions are illustrated by the example of designing pedagogical tools for organizing independent reading of poetry by students of M. Dry-Khmara in order to determine the bright constants and thematic-semantic paradigms of individual poetics of the famous representative of neoclassical literary style. For this purpose, the formation of student creative groups is envisaged, the number of which is determined by the number of discussed dominants of M. Dry-Khmara’s individual style, which have become peculiar carriers of the integrity of lyrical works: 1) antinomy «freedom – slavery»; 2) the dominant «blood»; 3) the dominant motive «dream» – «death» – «life». The specificity of this work is to develop an algorithm for an approximate system of tasks for problem-style analysis of works by each of the creative groups, the solution of which brings students closer to understanding the author’s style of neoclassical poet and prepares for analytical-synthetic conversation in the audience. The result of the work carried out by means of technologicalization of the educational process is an approximate report of one of the creative groups of students during the practical lesson. As a result, the leading features of technologicalization of the formation of reading competence of students of philology in the course of their study of the poetic works of Ukrainian neoclassicists are formulated.
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Conference papers on the topic "Local motion planner"

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Merlet, J.-P. "A local motion planner for closed-loop robots." In 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2007. http://dx.doi.org/10.1109/iros.2007.4398984.

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Denny, Jory, and Nancy M. Amato. "The Toggle Local Planner for sampling-based motion planning." In 2012 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2012. http://dx.doi.org/10.1109/icra.2012.6225212.

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Byrne, Steven, Wasif Naeem, and Stuart Ferguson. "An intelligent configuration-sampling based local motion planner for robotic manipulators." In 2013 9th Workshop on Robot Motion and Control (RoMoCo). IEEE, 2013. http://dx.doi.org/10.1109/romoco.2013.6614600.

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Piccinelli, Nicola, and Riccardo Muradore. "Hybrid Motion Planner Integrating Global Voronoi Diagrams and Local Velocity Obstacle Method." In 2018 17th European Control Conference (ECC). IEEE, 2018. http://dx.doi.org/10.23919/ecc.2018.8550127.

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Qureshi, Ahmed Hussain, Saba Mumtaz, Wajeeha Khan, Abdul Ahad Ashfaq Sheikh, Khawaja Fahad Iqbal, Yasar Ayaz, and Osman Hasan. "Augmenting RRT∗-planner with local trees for motion planning in complex dynamic environments." In 2014 19th International Conference on Methods & Models in Automation & Robotics (MMAR). IEEE, 2014. http://dx.doi.org/10.1109/mmar.2014.6957432.

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Vega-Brown, William, and Nicholas Roy. "Admissible Abstractions for Near-optimal Task and Motion Planning." In Twenty-Seventh International Joint Conference on Artificial Intelligence {IJCAI-18}. California: International Joint Conferences on Artificial Intelligence Organization, 2018. http://dx.doi.org/10.24963/ijcai.2018/674.

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We define an admissibility condition for abstractions expressed using angelic semantics and show that these conditions allow us to accelerate planning while preserving the ability to find the optimal motion plan. We then derive admissible abstractions for two motion planning domains with continuous state. We extract upper and lower bounds on the cost of concrete motion plans using local metric and topological properties of the problem domain. These bounds guide the search for a plan while maintaining performance guarantees. We show that abstraction can dramatically reduce the complexity of search relative to a direct motion planner. Using our abstractions, we find near-optimal motion plans in planning problems involving 10^13 states without using a separate task planner.
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Mahmoodi, Mostafa, Khalil Alipour, Mehdi Tale Masouleh, and Hadi Beik Mohammadi. "Real-Time Safe Navigation in Crowded Dynamic Environments Using Generalized Velocity Obstacles." In ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2014. http://dx.doi.org/10.1115/detc2014-35036.

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This paper aims at developing a real-time, robust, and reliable navigation method for an omnidirectional robot, the so-called MRL-SSL RoboCup robot, can be used in crowded dynamically-changing environments. To this end, a local motion planner will be introduced which combining the Generalized Velocity Obstacles (GVO) notion and a heuristic approach for determining the time horizon such that the inevitable collision states can successfully be avoided. The proposed method considers not only the kinematics of the robot but also its dynamics. Moreover, it could be extended to a wide range of practical path planning problems containing uncertainties. Finally, in order to demonstrate the performance and effectiveness of the proposed motion planner for the omnimobile robots, some practical scenarios are simulated.
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Shimizu, Yutaka, Wei Zhan, Liting Sun, Jianyu Chen, Shinpei Kato, and Masayoshi Tomizuka. "Motion Planning for Autonomous Driving With Extended Constrained Iterative LQR." In ASME 2020 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2020. http://dx.doi.org/10.1115/dscc2020-3138.

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Abstract Autonomous driving planning is a challenging problem when the environment is complicated. It is difficult for the planner to find a good trajectory that navigates autonomous cars safely with crowded surrounding vehicles. To solve this complicated problem, a fast algorithm that generates a high-quality, safe trajectory is necessary. Constrained Iterative Linear Quadratic Regulator (CILQR) is appropriate for this problem, and it successfully generates the required trajectory in realtime. However, CILQR has some deficiencies. Firstly, CILQR uses logarithmic barrier functions for hard constraints, which will cause numerical problems when the initial trajectory is infeasible. Secondly, the convergence speed is slowed with a bad initial trajectory, which might violate the real-time requirements. To address these problems, we propose the extended CILQR by adding two new features. The first one is using relaxed logarithmic barrier functions instead of the standard logarithmic barrier function to prevent numerical issues. The other one is adding an efficient initial trajectory creator to generate a good initial trajectory. Moreover, this initial trajectory helps CILQR to converge to a desired local optimum. These new features extend CILQR’s usage to more practical autonomous driving applications. Simulation results show that our algorithm is effective in challenging driving environments.
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Caracciolo, R., G. Boschetti, N. De Rossi, G. Rosati, and A. Trevisani. "A Master-Slave Robotic System for Haptic Teleoperation." In ASME 8th Biennial Conference on Engineering Systems Design and Analysis. ASMEDC, 2006. http://dx.doi.org/10.1115/esda2006-95474.

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This paper proposes a telerobotic system made up of an haptic master and a slave anthropomorphic robot communicating through the Internet. In the proposed teleoperation system the operator drives the robot by manipulating a five-dof pen-shaped master haptic device, whose movements are repeated by the robot. Moreover, the operator is provided with force feedback in order not only to let him feel the physical environment the robot is interacting with, but also to guide him through the correct execution of the teleoperation task. To this purpose, the slave system end-effector (a drill) is mounted on a home-made single axis load cell used to measure drilling forces. This work, in particular, addresses the problem of implementing an on-line trajectory planner assuring a smooth motion of the slave robot in the presence of piecewise constant and unpredictable position references received by the haptic master, even in the presence of random communication time delay. Additionally, in order to improve the drilling task outcome and to prevent the execution of inappropriate and abrupt operators’ movements, an algorithm has been developed, which makes use of a local force feedback to appropriately delay the position references received by the master.
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Cybulski, B., A. Wegierska, and G. Granosik. "Accuracy comparison of navigation local planners on ROS-based mobile robot." In 2019 12th International Workshop on Robot Motion and Control (RoMoCo). IEEE, 2019. http://dx.doi.org/10.1109/romoco.2019.8787346.

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