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Collision avoidance method for multi-operator multi-robot teleoperation system
(Cambridge University Press, 2018-01)
SUMMARY This paper proposes a collision avoidance method for the teleoperation of multiple non-holonomic mobile robots from multiple users. Each human operator drives a mobile robot, where each one performs an independent ...
Reactive Sliding-Mode Algorithm for Collision Avoidance in Robotic Systems
(Institute of Electrical and Electronics Engineers, 2013-01)
This brief presents a reactive reference conditioning algorithm for robot collision avoidance based on geometric invariance and sliding-mode (SM) ideas. First, constraints are defined in terms of the measurements given by ...
A path conditioning method with trap avoidance
(Elsevier Science, 2012-06)
This work presents a sliding-mode method for robotic path conditioning. The proposal includes a trap avoidance algorithm in order to escape from trap situations, which are analogous to local minima in potential field-based ...
Mapping trajectories for a spacecraft to hit an asteroid to avoid a collision with the earth
(2017-01-01)
The study of asteroids has revealed much about these small rock-formed bodies compared to the planets, which like them also orbit around the Sun. But, although these bodies have masses smaller than the Moon, they present ...
A supervisory loop approach to fulfill workspace constraints in redundant robots
(Elsevier Science, 2012-01)
An approach based on geometric invariance and sliding mode ideas is proposed for redundancy resolution in robotic systems to fulfill configuration and workspace constraints caused by robot mechanical limits, collision ...