Relevant bibliographies by topics / Moving obstacles

Academic literature on the topic 'Moving obstacles'

Author: Grafiati
Published: 10 December 2022
Last updated: 29 January 2023

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Journal articles on the topic "Moving obstacles"

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Aivar, M. Pilar, Eli Brenner, and Jeroen B. J. Smeets. "Avoiding moving obstacles." Experimental Brain Research 190, no. 3 (July 16, 2008): 251–64. http://dx.doi.org/10.1007/s00221-008-1475-9.

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Graffstein, Jerzy. "The Avoiding Manoeuvre Against Aggregated Group of Obstacles Moving Around the Airplane." Pomiary Automatyka Robotyka 25, no. 1 (March 31, 2021): 5–12. http://dx.doi.org/10.14313/par_239/5.

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Successful avoidance of a mid air collision with moving obstacles depends on solutions of some most essential problems, e.g.: quick detection of an obstacle, verification whether detected obstacle is a critical one and making right decision on evasive manoeuvre. This decision – making process requires an appropriate identification of a threat’s nature, including whether detected obstacles should be treated as one aggregated group. Aggregation of obstacles moving in short distance one to the other is a typical case. The paper addresses also the case of inclusion the obstacle to the group objects moving in longer distances one to the other. The algorithm used for deciding whether a moving obstacle should be added to (aggregated with) a given group has been presented. A method for computing its characteristic parameters has been presented too. Selected scenarios of avoiding the aggregated group of moving obstacles have been simulated and results obtained illustrates problems considered.
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Burnett, Nicholas P., Marc A. Badger, and Stacey A. Combes. "Wind and obstacle motion affect honeybee flight strategies in cluttered environments." Journal of Experimental Biology 223, no. 14 (June 19, 2020): jeb222471. http://dx.doi.org/10.1242/jeb.222471.

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ABSTRACTBees often forage in habitats with cluttered vegetation and unpredictable winds. Navigating obstacles in wind presents a challenge that may be exacerbated by wind-induced motions of vegetation. Although wind-blown vegetation is common in natural habitats, we know little about how the strategies of bees for flying through clutter are affected by obstacle motion and wind. We filmed honeybees Apis mellifera flying through obstacles in a flight tunnel with still air, headwinds or tailwinds. We tested how their ground speeds and centering behavior (trajectory relative to the midline between obstacles) changed when obstacles were moving versus stationary, and how their approach strategies affected flight outcome (successful transit versus collision). We found that obstacle motion affects ground speed: bees flew slower when approaching moving versus stationary obstacles in still air but tended to fly faster when approaching moving obstacles in headwinds or tailwinds. Bees in still air reduced their chances of colliding with obstacles (whether moving or stationary) by reducing ground speed, whereas flight outcomes in wind were not associated with ground speed, but rather with improvement in centering behavior during the approach. We hypothesize that in challenging flight situations (e.g. navigating moving obstacles in wind), bees may speed up to reduce the number of wing collisions that occur if they pass too close to an obstacle. Our results show that wind and obstacle motion can interact to affect flight strategies in unexpected ways, suggesting that wind-blown vegetation may have important effects on foraging behaviors and flight performance of bees in natural habitats.
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Lakshmi, Dr K. Prasanna. "Motion Planning of Moving Robots Amongst Static Obstacles." International Journal of Scientific Research 2, no. 5 (June 1, 2012): 167–70. http://dx.doi.org/10.15373/22778179/may2013/57.

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Kownacki, Cezary, and Leszek Ambroziak. "A New Multidimensional Repulsive Potential Field to Avoid Obstacles by Nonholonomic UAVs in Dynamic Environments." Sensors 21, no. 22 (November 11, 2021): 7495. http://dx.doi.org/10.3390/s21227495.

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The ability of autonomous flight with obstacle avoidance should be a fundamental feature of all modern unmanned aerial vehicles (UAVs). The complexity and difficulty of such a task, however, significantly increase in cases combining moving obstacles and nonholonomic UAVs. Additionally, since they assume the symmetrical distribution of repulsive forces around obstacles, traditional repulsive potential fields are not well suited for nonholonomic vehicles. The limited maneuverability of these types of UAVs, including fixed-wing aircraft, requires consideration not only of their relative position, but also their speed as well as the direction in which the obstacles are moving. To address this issue, the following work presents a novel multidimensional repulsive potential field dedicated to nonholonomic UAVs. This field generates forces that repulse the UAV not from the obstacle’s geometrical center, but from areas immediately behind and in front of it located along a line defined by the obstacle’s velocity vector. The strength of the repulsive force depends on the UAV’s distance to the line representing the obstacle’s movement direction, distance to the obstacle along that line, and the relative speed between the UAV and the obstacle projected to the line, making the proposed repulsive potential field multidimensional. Numerical simulations presented within the paper prove the effectiveness of the proposed novel repulsive potential field in controlling the flight of nonholonomic UAVs.
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Fujimori, A. "Navigation of mobile robots with collision avoidance for moving obstacles." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 219, no. 1 (February 1, 2005): 99–110. http://dx.doi.org/10.1243/095440705x9416.

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This paper presents a collision avoidance technique of mobile robots for moving obstacles in unknown environments. The mobile robot considered in this paper has a sensor measuring the distance between the robot and a moving obstacle, such as an ultrasonic sonar or infrared sensor. Avoidance behaviour for moving obstacles is proposed. The collision avoidance conditions for two typical aspects under which the robot encounters a moving obstacle are derived and are used as guidelines for designing the navigation parameters. The effectiveness of the proposed technique is demonstrated by numerical simulation examples.
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Hoshino, Satoshi, and Tomoki Yoshikawa. "Motion Planning of Mobile Robots for Occluded Obstacles." Journal of Robotics and Mechatronics 30, no. 3 (June 20, 2018): 485–92. http://dx.doi.org/10.20965/jrm.2018.p0485.

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Motion planning of mobile robots for occluded obstacles is a challenge in dynamic environments. The occlusion problem states that if an obstacle suddenly appears from the occluded area, the robot might collide with the obstacle. To overcome this, we propose a novel motion planner, the Velocity Obstacle for occlusion (VOO). The VOO is based on a previous motion planner, the Velocity Obstacle (VO), which is effective for moving obstacles. In the proposed motion planner, information uncertainties about occluded obstacles, such as position, velocity, and moving direction, are quantitatively addressed. Thus, the robot based on the VOO is able to move not only among observed obstacles, but also among the occluded ones. Through simulation experiments, the effectiveness of the VOO for the occlusion problem is demonstrated by comparison with the VO.
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Beghin, Luisa, and Enzo Orsingher. "Moving randomly amid scattered obstacles." Stochastics 82, no. 2 (April 2010): 201–29. http://dx.doi.org/10.1080/17442500903359163.

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Vaĭnberg, B. R. "SCATTERING BY PERIODICALLY MOVING OBSTACLES." Mathematics of the USSR-Sbornik 73, no. 1 (February 28, 1992): 289–304. http://dx.doi.org/10.1070/sm1992v073n01abeh002546.

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Williams, Robert L., and Jianhua Wu. "Dynamic Obstacle Avoidance for an Omnidirectional Mobile Robot." Journal of Robotics 2010 (2010): 1–14. http://dx.doi.org/10.1155/2010/901365.

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We have established a novel method of obstacle-avoidance motion planning for mobile robots in dynamic environments, wherein the obstacles are moving with general velocities and accelerations, and their motion profiles are not preknown. A hybrid system is presented in which a global deliberate approach is applied to determine the motion in the desired path line (DPL), and a local reactive approach is used for moving obstacle avoidance. A machine vision system is required to sense obstacle motion. Through theoretical analysis, simulation, and experimental validation applied to the Ohio University RoboCup robot, we show the method is effective to avoid collisions with moving obstacles in a dynamic environment.
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Dissertations / Theses on the topic "Moving obstacles"

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Dintelmann, Eva. "Fluids in the exterior domain of several moving obstacles /." Berlin : wvb, Wiss. Verl, 2007. http://www.wvberlin.de/data/inhalt/dintelmann.html.

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Chiaroni, Florent. "Weakly supervised learning for image classification and potentially moving obstacles analysis." Thesis, université Paris-Saclay, 2020. http://www.theses.fr/2020UPASC006.

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Dans le contexte des applications de perception pour le véhicule à conduite déléguée, l’intérêt pour les approches d’apprentissage automatique a continuellement augmenté pendant cette dernière décennie. Cependant, lorsque ces approches doivent être discriminatives, elle nécessitent généralement d’apprendre sur des données manuellement annotées. L’annotation manuelle a un coût non négligeable, tandis que les données non annotées peuvent être facilement obtenues dans le contexte d’un véhicule autonome équipé de capteurs. Il se trouve qu’une catégorie de stratégies d’apprentissage, dite d’apprentissage faiblement supervisé, permet d’exploiter des données partiellement labélisées. Ainsi, nous avons pour objectif dans cette thèse de réduire autant que possible le besoin de labélisation manuelle en proposant des techniques d’apprentissage faiblement supervisées
In the context of autonomous vehicle perception, the interest of the research community for deep learning approaches has continuously grown since the last decade. This can be explained by the fact that deep learning techniques provide nowadays state-of-the-art prediction performances for several computer vision challenges. More specifically, deep learning techniques can provide rich semantic information concerning the complex visual patterns encountered in autonomous driving scenarios. However, such approaches require, as their name implies, to learn on data. In particular, state-of-the-art prediction performances on discriminative tasks often demand hand labeled data of the target application domain. Hand labeling has a significant cost, while, conversely, unlabeled data can be easily obtained in the autonomous driving context. It turns out that a category of learning strategies, referred to as weakly supervised learning, enables to exploit partially labeled data. Therefore, we aim in this thesis at reducing as much as possible the hand labeling requirement by proposing weakly supervised learning techniques.We start by presenting a type of learning methods which are self-supervised. They consist of substituting hand-labels by upstream techniques able to automatically generate exploitable training labels. Self-supervised learning (SSL) techniques have proven their usefulness in the past for offroad obstacles avoidance and path planning through changing environments. However, SSL techniques still leave the door open for detection, segmentation, and classification of static potentially moving obstacles.Consequently, we propose in this thesis three novel weakly supervised learning methods with the final goal to deal with such road users through an SSL framework. The first two proposed contributions of this work aim at dealing with partially labeled image classification datasets, such that the labeling effort can be only focused on our class of interest, the positive class. Then, we propose an approach which deals with training data containing a high fraction of wrong labels, referred to as noisy labels. Next, we demonstrate the potential of such weakly supervised strategies for detection and segmentation of potentially moving obstacles
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Kolomenskiy, Dmitry. "Numerical modelling of lows past moving obstacles : Application to the aerodynamics of insect flight." Aix-Marseille 1, 2010. http://www.theses.fr/2001AIX11034.

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Cette thèse présente une étude théorique et numérique des écoulements non-stationnaires autour des ailes battantes des insectes. Une méthode numérique est développée pour modéliser des écoulements visqueux incompressibles autour d’obstacles mobiles. La condition de non-glissement sur les parois est imposée par la méthode de pénalisation. Le problème est discrétisé par une méthode pseudo-spectrale Fourier. Une approche originale est proposée pour l’interpolation de l’interface entre le fluide et le solide, basée sur la discrétisation spectrale. Le code de calcul est adapté aux architectures massivement parallèles. La méthode développée est utilisée pour examiner le mécanisme de Lighthill–Weis-Fogh, un mouvement qui permet d’augmenter la portance engendrée au début de chaque cycle de battement d’ailes. Cependant, cette étude commence par un développement non-visqueux. On s’intéresse particulièrement au changement topologique du domaine fluide, au moment où les ailes se touchent et puis se séparent. Le scénario bidimensionnel non-visqueux proposé par Lighthill est confirmé par un calcul directe, qui montre une possibilité d’engendrer un mouvement circulatoire dans un fluide non-visqueux. Ensuite, les effets visqueux sont considérés. Notamment, on établit que les contraintes visqueuses contrôlent l’établissement de l’écoulement dans l’espace entre les deux ailes après leur séparation. Au voisinage des bords de fuite le nombre de Reynolds est localement très faible, et l’écoulement est bien décrit par des solutions auto-similaires de l’équation de Stokes. Ensuite, des effets tridimensionnels sont considérés. Les simulations numériques sont effectuées avec deux valeurs du nombre de Reynolds, 128 et 1400, typique pour des différentes tailles des insectes. Au début d’un cycle de battement, l’approximation bidimensionnelle est justifiée ; peu de temps après, le caractère tridimensionnel de l’écoulement commence à jouer un rôle important en faisant retarder le décrochage des tourbillons. Enfin, quelques résultats sur le couplage du mouvement du fluide et du solide sont présentés. On considère la chute libre des plaques sous la force de gravite. Les simulations numérique à Re = 10, 100 et 1000 montre l’effet stabilisant de la viscosité
The dissertation presents theoretical and numerical studies of unsteady flows relevant to insect flapping flight. Much emphasis is put on the development of a numerical method for modelling incompressible viscous flows past multiple moving solid obstacles. The Navier–Stokes equations are solved using a Fourier pseudo-spectral discretization. Solid obstacles are modelled with the volume penalization method. An original approach is proposed for interpolation of the time-dependent penalization mask function, which takes advantage of the spectral discretization. Both two- and three-dimensional solvers have been developed, which differ in some implementation aspects. Notably, the three-dimensional code is adapted for massively parallel computers. The newly-developed numerical method is employed in a study of the Lighthill–Weis- Fogh mechanism, an unsteady aerodynamic mechanism used by some insects. That study begins, however, with the inviscid fluid model first considered by Lighthill. A transition from fling to sweep is analysed, when the connectivity of the domain changes. Then, modifications due to viscosity are explored. Important viscous effects are found near the trailing edges. The flow field near the hinge, observed in numerical simulations, is explained theoretically by local analysis of the Stokes equation. The importance of the three-dimensional effects is assessed. Numerical simulations are performed at two different values of the Reynolds number, Re = 128 and 1400, typical for insects of different size. The flow during fling is shown to be in reasonable agreement with the two-dimensional approximation. After the wings move apart, three-dimensional effects become essential. The penalization model has been extended to solve the problem of solid bodies falling through a fluid. Numerical simulations at Re = 10, 100 and 1000 have shown that decreasing Re has a stabilizing effect on the free fall dynamics
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An, Vatana. "A THIRD-ORDER DIFFERENTIAL STEERING ROBOT AND TRAJECTORY GENERATION IN THE PRESENCE OF MOVING OBSTACLES." Master's thesis, University of Central Florida, 2006. http://digital.library.ucf.edu/cdm/ref/collection/ETD/id/2433.

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In this thesis, four robots will be used to implement a collision-free trajectory planning/replanning algorithm. The existence of a chained form transformation so that the robot's model can be control in canonical form will be analyzed and proved. A trajectory generation for obstacles avoidance will be derived, simulated, and implemented. A specific PC based control algorithm will be developed. Chapter two describes two wheels differential drive robot modeling and existence of controllable canonical chained form. Chapter 3 describes criterion for avoiding dynamic objects, a feasible collision-free trajectory parameterization, and solution to steering velocity. Chapter 4 describes robot implementation, pc wireless interface, and strategy to send and receive information wirelessly. The main robot will be moving in a dynamically changing environment using canonical chained form. The other three robots will be used as moving obstacles that will move with known piecewise constant velocities, and therefore, with known trajectories. Their initial positions are assumed to be known as well. The main robot will receive the command from the computer such as how fast to move and to turn in order to avoid collision. The robot will autonomously travel to the desired destination collision-free.
M.S.E.E.
School of Electrical Engineering and Computer Science
Engineering and Computer Science
Electrical Engineering
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Elias, Ricardo. "A VIRTUAL REALITY VISUALIZATION OFAN ANALYTICAL SOLUTION TOMOBILE ROBOT TRAJECTORY GENERATIONIN THE PRESENCE OF MOVING OBSTACLES." Master's thesis, University of Central Florida, 2007. http://digital.library.ucf.edu/cdm/ref/collection/ETD/id/2438.

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Virtual visualization of mobile robot analytical trajectories while avoiding moving obstacles is presented in this thesis as a very helpful technique to properly display and communicate simulation results. Analytical solutions to the path planning problem of mobile robots in the presence of obstacles and a dynamically changing environment have been presented in the current robotics and controls literature. These techniques have been demonstrated using two-dimensional graphical representation of simulation results. In this thesis, the analytical solution published by Dr. Zhihua Qu in December 2004 is used and simulated using a virtual visualization tool called VRML.
M.S.E.E.
School of Electrical Engineering and Computer Science
Engineering and Computer Science
Electrical Engineering MSEE
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Lalonde, Jeffrey R. "Monocular Obstacle Detection for Moving Vehicles." Thesis, Université d'Ottawa / University of Ottawa, 2012. http://hdl.handle.net/10393/20582.

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This thesis presents a 3D reconstruction approach to the detection of static obstacles from a single rear view parking camera. Corner features are tracked to estimate the vehicle’s motion and to perform multiview triangulation in order to reconstruct the scene. We model the camera motion as planar motion and use the knowledge of the camera pose to efficiently solve motion parameters. Based on the observed motion, we selected snapshots from which the scene is reconstructed. These snapshots guarantee a sufficient baseline between the images and result in more robust scene modeling. Multiview triangulation of a feature is performed only if the feature obeys the epipolar constraint. Triangulated features are semantically labelled according to their 3D location. Obstacle features are spatially clustered to reduce false detections. Finally, the distance to the nearest obstacle cluster is reported to the driver.
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Kunogi, Noriyuki. "Scattering problem for the Maxwell equations outside a moving obstacle." 京都大学 (Kyoto University), 2008. http://hdl.handle.net/2433/135996.

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Limongiello, Alessandro. "Real-time video analysis from a mobile platform : moving object and obstacle detection." Lyon, INSA, 2007. http://www.theses.fr/2007ISAL0036.

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We introduce a vision system for autonomous navigation of a mobile platform. This system is able to interact with is immediate environment by recognizing obstacles and moving objects and means of a stable representation of external world. This system is made of 3 components : external world representation, obstacles detection and avoidance, behavioral analysis. The main contribution of this work lies in the perceptive representation of the external world, e. G. A representation compared to the final goal of autonomous navigation. This representation is based on the stereovision paradigm and is able to determine in the scene obstacles and moving objects. Our approach returns the depth of any region. The location estimation of regions is precise with respect to navigation requirements and the system is fast enough for real time applications
Nous présentons un système de vision pour la navigation autonome d’une plateforme mobile. Ce système est en mesure d’interagir avec l’espace immédiatement environnant, en reconnaissant les obstacles et les objets en mouvement et en construisant une vision stable du monde extérieur. Le système est composé de trois composants : la représentation dans l’espace environnant ; la détection et l’évitement des obstacles et l’analyse comportementale. La contribution majeure de ce travail concerne la représentation « perceptive » de l’espace, c’est-à-dire une représentation qui est comparée à l’objectif final de la navigation autonome. Cette représentation est basée sur le paradigme de la vision stéréo et elle permet de déterminer dans la scène les obstacles et les objets en mouvement. Notre méthode fournit la profondeur moyenne par région. L’estimation de la position des régions est suffisamment précise pour la navigation et le système est assez rapide pour les applications en temps réel
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Karlsson, Samuel. "Monocular vision-based obstacle avoidance for Micro Aerial Vehicles." Thesis, Luleå tekniska universitet, Institutionen för system- och rymdteknik, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-80906.

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The Micro Aerial Vehicless (MAVs) are gaining attention in numerous applications asthese platforms are cheap and can do complex maneuvers. Moreover, most of the commer-cially available MAVs are equipped with a mono-camera. Currently, there is an increasinginterest to deploy autonomous mono-camera MAVs with obstacle avoidance capabilitiesin various complex application areas. Some of the application areas have moving obstaclesas well as stationary, which makes it more challenging for collision avoidance schemes.This master thesis set out to investigate the possibility to avoid moving and station-ary obstacles with a single camera as the only sensor gathering information from thesurrounding environment.One concept to perform autonomous obstacle avoidance is to predict the time near-collision based on a Convolution Neural Network (CNN) architecture that uses the videofeed from a mono-camera. In this way, the heading of the MAV is regulated to maximizethe time to a collision, resulting in the avoidance maneuver. Moreover, another interestingperspective is when due to multiple dynamic obstacles in the environment there aremultiple time predictions for different parts of the Field of View (FoV). The method ismaximizing time to a collision by choosing the part with the largest time to collision.However, this is a complicated task and this thesis provides an overview of it whilediscussing the challenges and possible future directions. One of the main reason was thatthe available data set was not reliable and was not provide enough information for theCNN to produce any acceptable predictions.Moreover, this thesis looks into another approach for avoiding collisions, using objectdetection method You Only Lock Once (YOLO) with the mono-camera video feed. YOLOis a state-of-the-art network that can detect objects and produce bounding boxes in real-time. Because of YOLOs high success rate and speed were it chosen to be used in thisthesis. When YOLO detects an obstacle it is telling where in the image the object is,the obstacle pixel coordinates. By utilizing the images FoV and trigonometry can pixelcoordinates be transformed to an angle, assuming the lens does not distort the image.This position information can then be used to avoid obstacles. The method is evaluated insimulation environment Gazebo and experimental verification with commercial availableMAV Parrot Bebop 2. While the obtained results show the efficiency of the method. To bemore specific, the proposed method is capable to avoid dynamic and stationary obstacles.Future works will be the evaluation of this method in more complex environments with multiple dynamic obstacles for autonomous navigation of a team of MAVs. A video ofthe experiments can be viewed at:https://youtu.be/g_zL6eVqgVM.
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Wu, Jianhua. "Dynamic Path Planning of an Omni-directional Robot in a Dynamic Environment." Ohio University / OhioLINK, 2005. http://www.ohiolink.edu/etd/view.cgi?ohiou1113839523.

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Books on the topic "Moving obstacles"

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Professional Environmental Seminar (1st 1994 Cambridge, England). Moving forward: Overcoming the obstacles to a sustainable transport policy : proceedings of the first Professional Environmental Seminar held on Friday 25th February 1994 at the Møller Centre, Cambridge. Cambridge: White Horse Press, 1994.

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Moving Obstacles. Policy Press, 1996.

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Wang, Chao, Alexey S. Matveev, Andrey V. Savkin, and Michael Hoy. Safe Robot Navigation among Moving and Steady Obstacles. Elsevier Science & Technology Books, 2015.

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Safe Robot Navigation Among Moving and Steady Obstacles. Elsevier, 2016. http://dx.doi.org/10.1016/c2014-0-04846-0.

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Wang, Chao, Alexey S. Matveev, Andrey V. Savkin, and Michael Hoy. Safe Robot Navigation among Moving and Steady Obstacles. Elsevier Science & Technology Books, 2015.

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Murphy, L. S., L. F. Welch, and Eugene C. Doll. Moving up the Yield Curve: Advances and Obstacles. Wiley & Sons, Limited, John, 2015.

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Ward, Terrae. In Transition: Becoming Successful in Moving Through Life's Obstacles. Independently Published, 2018.

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Sharir, Micha, and Jacob T. Schwartz. On the Case of the Piano Movers' Problems: V. the Case of a Rod Moving in Three-Dimensional Space Amidst Polyhedral Obstacles. Creative Media Partners, LLC, 2018.

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Nestler, Eric J. New Approaches for Treating Depression. Edited by Dennis S. Charney, Eric J. Nestler, Pamela Sklar, and Joseph D. Buxbaum. Oxford University Press, 2017. http://dx.doi.org/10.1093/med/9780190681425.003.0030.

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Several obstacles have impeded the introduction of new antidepressant medications over the past six decades. These obstacles include our still rudimentary knowledge of the biological basis of depression, as well as difficulties in evaluating the therapeutic efficacy of new putative antidepressant mechanisms in pathophysiologically distinct subtypes of the syndrome. Despite these obstacles, several tangible steps can be taken to advance depression treatment moving forward. The field needs to continue to take advantage of serendipitous discoveries in humans, such as the demonstration of rapid antidepressant effects of ketamine. Re-establishing experimental pharmacology in humans, to make it possible to establish the actions of new mechanisms in people, is essential, combined with the judicious use of a growing range of chronic stress models in animals. We anticipate that, with these approaches, the field can at long last breakthrough the logjam of discovery and introduce new treatments for depression over the next decade.
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Kitch, Sally L. Addressing Afghanistan’s Problems. University of Illinois Press, 2017. http://dx.doi.org/10.5406/illinois/9780252038709.003.0009.

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This chapter assesses the significance of the obstacles Marzia and Jamila identified in 2010 and 2011, which included criticisms of Afghan women leaders and the fear that their limitations would keep ordinary women's prospects from flowering in the desert of their own delayed opportunities. When the author met and spoke to the women in 2010 and 2011, Marzia and Jamila had given much thought to the strategies their country should adopt in order to address the problems it faces. In their conversations, the women offered some pointed suggestions about moving Afghanistan forward on a number of fronts. In their usual manner, their discussion combined hopes and fears, but it was increasingly clear that obstacles were casting a longer shadow over possibilities for change than they had in 2005. The author was impressed that the two women wanted to discuss strategies for change in the midst of their discouragement, but even as she clung to their positive insights, the pain in their voices as they discussed enduring obstacles was unmistakable.
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Book chapters on the topic "Moving obstacles"

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DiMarzio, J. F. "Moving a Character with Obstacles." In Android Game Recipes, 167–74. Berkeley, CA: Apress, 2013. http://dx.doi.org/10.1007/978-1-4302-5765-3_13.

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Cooper, Jeffery. "A Scattering Theory for Moving Obstacles *." In Functional Analysis, Holomorphy, and Approximation Theory, 11–19. Boca Raton: CRC Press, 2020. http://dx.doi.org/10.1201/9781003072577-2.

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Qian, Shaohua, Joo Kooi Tan, Hyoungseop Kim, Seiji Ishikawa, and Takashi Morie. "Obstacles Extraction Using a Moving Camera." In Computer Vision - ACCV 2012 Workshops, 441–53. Berlin, Heidelberg: Springer Berlin Heidelberg, 2013. http://dx.doi.org/10.1007/978-3-642-37484-5_36.

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Teles da Silva, A. F., and D. H. Peregrine. "Wave-Breaking due to Moving Submerged Obstacles." In Breaking Waves, 333–40. Berlin, Heidelberg: Springer Berlin Heidelberg, 1992. http://dx.doi.org/10.1007/978-3-642-84847-6_38.

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van den Berg, Jur, and Mark Overmars. "Planning the Shortest Safe Path Amidst Unpredictably Moving Obstacles." In Springer Tracts in Advanced Robotics, 103–18. Berlin, Heidelberg: Springer Berlin Heidelberg, 2008. http://dx.doi.org/10.1007/978-3-540-68405-3_7.

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Aguilar, Wilbert G., Leandro Álvarez, Santiago Grijalva, and Israel Rojas. "Monocular Vision-Based Dynamic Moving Obstacles Detection and Avoidance." In Intelligent Robotics and Applications, 386–98. Cham: Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-27541-9_32.

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Anthimopoulou, M., and N. Aspragathos. "Kinematic Control of Planar Redundant Manipulators Moving Between Obstacles." In Advances in Robot Kinematics, 380–91. Vienna: Springer Vienna, 1991. http://dx.doi.org/10.1007/978-3-7091-4433-6_43.

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Wang, Zhiyong, and Sisi Zlatanova. "An A*-Based Search Approach for Navigation Among Moving Obstacles." In Intelligent Systems for Crisis Management, 17–30. Berlin, Heidelberg: Springer Berlin Heidelberg, 2012. http://dx.doi.org/10.1007/978-3-642-33218-0_2.

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Min, Hyeun-Jeong, and Sung-Bae Cho. "Bayesian Inference Driven Behavior Network Architecture for Avoiding Moving Obstacles." In Lecture Notes in Computer Science, 214–21. Berlin, Heidelberg: Springer Berlin Heidelberg, 2005. http://dx.doi.org/10.1007/11552451_29.

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Mohannad, Al-Khatib, and Jean J. Saade. "A Data-Driven Fuzzy Approach to Robot Navigation Among Moving Obstacles." In Intelligent Data Engineering and Automated Learning — IDEAL 2000. Data Mining, Financial Engineering, and Intelligent Agents, 109–15. Berlin, Heidelberg: Springer Berlin Heidelberg, 2000. http://dx.doi.org/10.1007/3-540-44491-2_17.

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Conference papers on the topic "Moving obstacles"

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Amano, N., H. Hashimoto, M. Higashiguchi, and Y. Kimura. "Detection of moving obstacles on moving vehicle." In 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. IEEE, 1999. http://dx.doi.org/10.1109/aim.1999.803307.

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de Lamadrid, James G. "Avoidance System for Moving Obstacles." In Cambridge Symposium_Intelligent Robotics Systems, edited by Nelson Marquina and William J. Wolfe. SPIE, 1987. http://dx.doi.org/10.1117/12.937811.

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Zhuang, Jiayuan, Yuhang Zhang, Peihong Xu, Yi Zhao, Jing Luo, and Shengqing Song. "Multiple Moving Obstacles Avoidance for USV using Velocity Obstacle Method." In 2021 IEEE International Conference on Unmanned Systems (ICUS). IEEE, 2021. http://dx.doi.org/10.1109/icus52573.2021.9641331.

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Haug, Edward J., Frederick A. Adkins, and Dan I. Coroian. "Domains of Mobility for a Planar Body Moving Among Obstacles." In ASME 1996 Design Engineering Technical Conferences and Computers in Engineering Conference. American Society of Mechanical Engineers, 1996. http://dx.doi.org/10.1115/96-detc/dac-1602.

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Abstract A formulation is presented for defining domains of mobility for a planar convex body moving with three degrees-of-freedom among convex planar obstacles. Applications included are determination of areas of a factory floor or material storage facility in which objects can be manipulated without impacting fixed obstacles. Mobility of the moving body is defined to encompass (1) dextrous mobility of the body; i.e., points that can be reached by a reference point on the body and at which the body can be rotated through its full range of admissible orientations without penetrating any stationary obstacle, and (2) limited mobility of the body; i.e., points that can be reached by the reference point and at which the body does not penetrate any stationary obstacle, for some admissible orientation. Analytical criteria for points on boundaries of domains of mobility are derived and numerical methods suitable for mapping these boundaries are summarized. An elementary example involving a moving and a stationary ellipse, with and without orientation restrictions, is solved analytically to illustrate the method. A more general application with one moving body and three stationary obstacles is solved numerically.
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Rajashekaraiah, Gangadhar, Hakki Erhan Sevil, and Atilla Dogan. "PTEM Based Moving Obstacle Detection and Avoidance for an Unmanned Ground Vehicle." In ASME 2017 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/dscc2017-5330.

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This study presents the development and implementation of an autonomous obstacle avoidance algorithm for an UGV (Unmanned Ground Vehicle). This research improves the prior work by enhancing the obstacle avoidance capability to handle moving obstacles as well as stationary obstacles. A mathematical representation of the area of operation with obstacles is formulated by PTEM (Probabilistic Threat Exposure Map). The PTEM quantifies the risk in being at a position in an area with different types of obstacles. A LRF (Laser Range Finder) sensor is mounted on the UGV for obstacle data in the area that is used to construct the PTEM. A guidance algorithm processes the PTEM and generates the speed and heading commands to steer the UGV to assigned waypoints while avoiding obstacles. The main contribution of this research is to improve the PTEM framework by updating it continuously as new LRF readings are obtained, on the contrary to the prior work with fixed PTEM. The improved PTEM construction algorithm is implemented in a MATLAB/Simulink simulation environment that includes models of the UGV, LRF, all the sensors and actuators needed for the control of the UGV. The performance of the algorithm is also demonstrated in real time experiments with an actual UGV system.
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Zhu, Xiaoyuan, Jian Chen, Yan Ma, Jianqiang Deng, and Yuexuan Wang. "Predictive Motion Planning for Autonomous Vehicles With Geometric Constraints via Convex Optimization." In ASME 2020 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2020. http://dx.doi.org/10.1115/dscc2020-3169.

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Abstract In this paper, we propose an MPC-based motion planning algorithm, including a decision-making module, an obstacle-constraints generating module, and an MPC-based planning module. The designed decision module effectively distinguishes between structured and unstructured roads and processes them separately, so that the algorithm is more robust in different environments. Besides, the movement of obstacles is considered in the decision-making and obstacle constraints generating module. By processing obstacles with lateral and longitudinal speed separately, obstacle avoidance can be done in scenarios with moving obstacles, including moving obstacles crossing the road. Instead of treating the vehicle as a mass point, we explicitly consider the geometric constraints by modeling the vehicle as three intersecting circles when generating obstacle constraints. This ensures that the vehicle is collision-free in motion planning, especially when the vehicle turns. For non-convex obstacle constraints, we propose an algorithm that generates up to two alternative linear constraints to convexify the obstacle constraints for improving computational efficiency. In MPC, we consider the vehicle kino-dynamic constraints and two generated linear constraints. Therefore, the proposed method can achieve better real-time performance and can be applied to more complicated traffic scenarios with moving obstacles. Simulation results in three different scenarios show that motion planning can achieve satisfactory performance in both structured and unstructured roads with moving obstacles.
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Bis, Rachael, Huei Peng, and Galip Ulsoy. "Velocity Occupancy Space: Robot Navigation and Moving Obstacle Avoidance With Sensor Uncertainty." In ASME 2009 Dynamic Systems and Control Conference. ASMEDC, 2009. http://dx.doi.org/10.1115/dscc2009-2570.

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In order to autonomously navigate in an unknown environment, a robotic vehicle must be able to sense obstacles, determine their velocities, and follow a clear path to a goal. However, the perceived location and motion of the obstacles will be uncertain due to the limited accuracy of the robot’s sensors. Thus, it is necessary to develop a system that can avoid moving obstacles using uncertain sensor data. The method proposed here is based on a certainty occupancy grid—which has been used to avoid stationary obstacles in an uncertain environment—in conjunction with the velocity obstacle concept—which allows a robot to avoid well-known moving obstacles. The combination of these two techniques leads to velocity occupancy space: a search space which allows the robot to avoid moving obstacles and navigate efficiently to a goal using uncertain sensor data.
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Cherubini, Andrea, Boris Grechanichenko, Fabien Spindler, and Francois Chaumette. "Avoiding moving obstacles during visual navigation." In 2013 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2013. http://dx.doi.org/10.1109/icra.2013.6631003.

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Javid, Ghasem Amini, Mohammad Durali, and Alireza Kasaaizadeh. "Overtaking Stationary and Moving Obstacles for Autonomous Ground Vehicles." In ASME 8th Biennial Conference on Engineering Systems Design and Analysis. ASMEDC, 2006. http://dx.doi.org/10.1115/esda2006-95437.

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In this paper, a method for overtaking stationary and moving obstacles will be introduced. The method consists of designing a desired trajectory for lateral motion of the vehicle and then using a lateral motion controller for tracking this desired trajectory. The desired trajectory is a sigmoid exponential function of relative distance between the vehicle and the obstacle and guarantees overtaking the obstacle, if tracked exactly, despite of lateral and longitudinal motions of the obstacle. Lateral acceleration of the vehicle should not exceed safety limits during tracking desired trajectory. This matter has been used as a decision criterion for determining feasible and unfeasible desired trajectories. A neural network has been trained for predicting maximum lateral acceleration (MLA) during overtaking maneuver. The lateral motion controller is a sliding mode controller which has been designed to be robust to uncertainties existing in lateral dynamic model of the vehicle. A virtual test environment has been developed as a design tool for developing new control strategies for autonomous vehicles. The lateral controller has been tested extensively using this virtual test environment and has shown satisfactory performance in controlling the vehicle, even in existence of noises and disturbances.
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Kooshkbaghi, Marzieh, and Farzaneh Abdollahi. "Coverage control considering unknown moving obstacles avoidance." In 2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM). IEEE, 2014. http://dx.doi.org/10.1109/icrom.2014.6990882.

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Reports on the topic "Moving obstacles"

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Sumpter, Cameron, and Yuslikha K. Wardhani. Hopes and Hurdles for Indonesia’s National Action Plan to Prevent Violent Extremism. RESOLVE Network, March 2022. http://dx.doi.org/10.37805/pn2022.2.sea.

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This policy note outlines the key details of Indonesia’s National Action Plan for P/CVE before discussing the evident challenges and opportunities moving forward. The ambitious strategy (known by its Indonesian acronym, RAN PE) could decentralize P/CVE programming in Indonesia, facilitate the formalization of working relationships between civil society organizations and local government authorities, mainstream gender perspectives, and streamline activities to improve targeting and avoid overlap. But constructive outcomes will depend on overcoming thorny obstacles, such as coordinating the varied interests, motivations, and capacities of the many stakeholders involved, and allaying concerns over applicable definitions that some perceive as overly broad and possibly divisive.
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Cowell, Chandler, Michael P. Gallaher, Justin Larson, and Aaron Schwartz. The Potential for SolarPowered Groundwater Irrigation in Sub-Saharan Africa: An Exploratory Analysis. RTI Press, November 2022. http://dx.doi.org/10.3768/rtipress.2022.op.0079.2211.

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This study considers existing off-grid initiatives that are being implemented in support of more rapid electrification in sub-Saharan Africa. After first reviewing the successes and obstacles of commonly implemented off-grid solutions, we suggest groundwater irrigation powered via off-grid solar (OGS) systems as a productivity-focused electrification solution that could be valuable to off-grid development initiatives moving forward. This solution encourages the establishment of OGS pumping infrastructure in unelectrified areas in proximity to nonirrigated agriculture that have promising and sustainable groundwater abstraction potential. Using open-access spatial data to estimate the alignment of these resources is an important first step in determining potential study sites for on-the-ground research and pilot projects. This study focuses on applying the above approach to Ethiopia to produce a spatial layer representing areas that are recommended for further assessment of their OGS groundwater irrigation viability. We follow the spatial analysis with a projection of potential gains from investment in OGS groundwater pumping systems under different scenarios to highlight the solution’s viability with regional context. This assessment provides an initial methodology for identifying, examining, and expanding upon potential markets where OGS irrigation can become an economically viable solution.
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