61 research outputs found
Prediction of Future Configurations of a Moving Target in a Time-Varying Environment Using an Autoregressive Model
No full text
A Novel Approach to Separate Handwritten Connected Digits
No full textThis paper presents a novel approach to separate connected digits in handwritten numerals by employing two agents in the process. The first agent decides on candidate cut-point as the closest feature-point to the center of the deepest top-valley, if any. The second agent argues candidate cut-point as the closest feature-point to the center of the highest bottom-hill, if any. Then the actual cut-point is decided by negotiation, which is influenced by a degree of confidence in each candidate cut-point. Experiments conducted so far are promising and successful as well as justified employing multiple agents. The obtained results are very encouraging with a success factor of 97.8%
Performance evaluation of a network flow based algorithm for multi robots coordinated motion planning
No full text
A global path planning Java-based system for autonomous mobile robots
No full textAbstractWe present an autonomous robot motion planning system developed in Java. This interactive system enables users to set up the working environment by creating obstacles and a robot of different shapes, specifying starting and goal positions and setting other path or environment parameters from a user-friendly interface. A collision-free path is computed upon specifying the goal point. The path planning system involves several phases: collision detection, obstacle avoidance, free-path generation and then selecting the shortest one. Each of these modules is complex and therefore we provide the possibility of visualizing graphically the output of each phase. It has been shown that this system can be an effective computer-aided learning (CAL) tool in classroom teaching and/or motivating junior researchers in this field of research to further implement practical complex systems
A practical pursuit-evasion algorithm: Detection and tracking
No full textAbstract-This paper presents a practical algorithm for evader detection and tracking using one or more pursuers. The solution employs two advanced data structures. The first one is the Rapidly-Exploring Random Tree (RRT). It is constructed randomly but evenly distributed to generate a roadmap that captures the connectivity of the free space. The second data structure is the k-dimensional tree (Kd-Tree). Upon completion of the RRTs construction, their vertices are inserted in a Kd-Tree. At the tracking phase, the Kd-Tree will be queried repeatedly for retrieving the set of potential locations to be used by each pursuer in order to monitor or track an evader. Thus, the usage of the Kd-Tree will reduce the querying cost, during tracking, to a logarithmic time. A lazy collision detection strategy is used to resolve collisions with obstacles at runtime. As a result unnecessary checks are eliminated and hence improving the system performance. Simulation results show the validity of the proposed algorithm
- …
