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planning</title> <meta name="description" content="Search results for: Motion planning"> <meta name="keywords" content="Motion planning"> <meta name="viewport" content="width=device-width, initial-scale=1, minimum-scale=1, maximum-scale=1, user-scalable=no"> <meta charset="utf-8"> <link href="https://cdn.waset.org/favicon.ico" type="image/x-icon" rel="shortcut icon"> <link href="https://cdn.waset.org/static/plugins/bootstrap-4.2.1/css/bootstrap.min.css" rel="stylesheet"> <link href="https://cdn.waset.org/static/plugins/fontawesome/css/all.min.css" rel="stylesheet"> <link href="https://cdn.waset.org/static/css/site.css?v=150220211555" rel="stylesheet"> </head> <body> <header> <div class="container"> <nav class="navbar navbar-expand-lg navbar-light"> <a class="navbar-brand" href="https://waset.org"> <img src="https://cdn.waset.org/static/images/wasetc.png" alt="Open Science Research Excellence" title="Open Science Research Excellence" /> </a> <button class="d-block d-lg-none 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action="https://publications.waset.org/search"> <div id="custom-search-input"> <div class="input-group"> <i class="fas fa-search"></i> <input type="text" class="search-query" name="q" placeholder="Author, Title, Abstract, Keywords" value="Motion planning"> <input type="submit" class="btn_search" value="Search"> </div> </div> </form> </div> </div> <div class="row mt-3"> <div class="col-sm-3"> <div class="card"> <div class="card-body"><strong>Commenced</strong> in January 2007</div> </div> </div> <div class="col-sm-3"> <div class="card"> <div class="card-body"><strong>Frequency:</strong> Monthly</div> </div> </div> <div class="col-sm-3"> <div class="card"> <div class="card-body"><strong>Edition:</strong> International</div> </div> </div> <div class="col-sm-3"> <div class="card"> <div class="card-body"><strong>Paper Count:</strong> 1693</div> </div> </div> </div> <h1 class="mt-3 mb-3 text-center" style="font-size:1.6rem;">Search results for: Motion planning</h1> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1693</span> Adaptive Motion Planning for 6-DOF Robots Based on Trigonometric Functions</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Jincan%20Li">Jincan Li</a>, <a href="https://publications.waset.org/search?q=Mingyu%20Gao"> Mingyu Gao</a>, <a href="https://publications.waset.org/search?q=Zhiwei%20He"> Zhiwei He</a>, <a href="https://publications.waset.org/search?q=Yuxiang%20Yang"> Yuxiang Yang</a>, <a href="https://publications.waset.org/search?q=Zhongfei%20Yu"> Zhongfei Yu</a>, <a href="https://publications.waset.org/search?q=Yuanyuan%20Liu"> Yuanyuan Liu</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>Building an appropriate motion model is crucial for trajectory planning of robots and determines the operational quality directly. An adaptive acceleration and deceleration motion planning based on trigonometric functions for the end-effector of 6-DOF robots in Cartesian coordinate system is proposed in this paper. This method not only achieves the smooth translation motion and rotation motion by constructing a continuous jerk model, but also automatically adjusts the parameters of trigonometric functions according to the variable inputs and the kinematic constraints. The results of computer simulation show that this method is correct and effective to achieve the adaptive motion planning for linear trajectories.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=6-DOF%20robots" title="6-DOF robots">6-DOF robots</a>, <a href="https://publications.waset.org/search?q=motion%20planning" title=" motion planning"> motion planning</a>, <a href="https://publications.waset.org/search?q=trigonometric%20function" title=" trigonometric function"> trigonometric function</a>, <a href="https://publications.waset.org/search?q=kinematic%20constraints" title=" kinematic constraints"> kinematic constraints</a> </p> <a href="https://publications.waset.org/10009257/adaptive-motion-planning-for-6-dof-robots-based-on-trigonometric-functions" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10009257/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10009257/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10009257/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10009257/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10009257/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10009257/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10009257/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10009257/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10009257/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10009257/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10009257.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">924</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1692</span> Motion Planning of SCARA Robots for Trajectory Tracking</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Giovanni%20Incerti">Giovanni Incerti</a> </p> <p class="card-text"><strong>Abstract:</strong></p> The paper presents a method for a simple and immediate motion planning of a SCARA robot, whose end-effector has to move along a given trajectory; the calculation procedure requires the user to define in analytical form or by points the trajectory to be followed and to assign the curvilinear abscissa as function of the time. On the basis of the geometrical characteristics of the robot, a specifically developed program determines the motion laws of the actuators that enable the robot to generate the required movement; this software can be used in all industrial applications for which a SCARA robot has to be frequently reprogrammed, in order to generate various types of trajectories with different motion times. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Motion%20planning" title="Motion planning">Motion planning</a>, <a href="https://publications.waset.org/search?q=SCARA%20robot" title=" SCARA robot"> SCARA robot</a>, <a href="https://publications.waset.org/search?q=trajectory%20tracking." title=" trajectory tracking."> trajectory tracking.</a> </p> <a href="https://publications.waset.org/10001344/motion-planning-of-scara-robots-for-trajectory-tracking" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10001344/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10001344/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10001344/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10001344/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10001344/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10001344/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10001344/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10001344/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10001344/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10001344/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10001344.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">2405</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1691</span> Sensor-Based Motion Planning for a Car-like Robot Based On Bug Family Algorithms</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Dong-Hyung%20Kim">Dong-Hyung Kim</a>, <a href="https://publications.waset.org/search?q=Ji%20Yeong%20Lee"> Ji Yeong Lee</a>, <a href="https://publications.waset.org/search?q=Chang-Soo%20Han"> Chang-Soo Han</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>This paper presents a sensor-based motion planning algorithm for 3-DOF car-like robots with a nonholonomic constraint. Similar to the classic Bug family algorithms, the proposed algorithm enables the car-like robot to navigate in a completely unknown environment using only the range sensor information. The car-like robot uses the local range sensor view to determine the local path so that it moves towards the goal. To guarantee that the robot can approach the goal, the two modes of motion are repeated, termed motion-to-goal and wall-following. The motion-to-goal behavior lets the robot directly move toward the goal, and the wall-following behavior makes the robot circumnavigate the obstacle boundary until it meets the leaving condition. For each behavior, the nonholonomic motion for the car-like robot is planned in terms of the instantaneous turning radius. The proposed algorithm is implemented to the real robot and the experimental results show the performance of proposed algorithm.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Motion%20planning" title="Motion planning">Motion planning</a>, <a href="https://publications.waset.org/search?q=car-like%20robot" title=" car-like robot"> car-like robot</a>, <a href="https://publications.waset.org/search?q=bug%20algorithm" title=" bug algorithm"> bug algorithm</a>, <a href="https://publications.waset.org/search?q=autonomous%20motion%20planning" title=" autonomous motion planning"> autonomous motion planning</a>, <a href="https://publications.waset.org/search?q=nonholonomic%20constraint." title=" nonholonomic constraint."> nonholonomic constraint.</a> </p> <a href="https://publications.waset.org/15391/sensor-based-motion-planning-for-a-car-like-robot-based-on-bug-family-algorithms" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/15391/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/15391/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/15391/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/15391/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/15391/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/15391/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/15391/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/15391/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/15391/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/15391/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/15391.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">2237</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1690</span> Hybrid Gravity Gradient Inversion-Ant Colony Optimization Algorithm for Motion Planning of Mobile Robots</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Meng%20Wu">Meng Wu</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>Motion planning is a common task required to be fulfilled by robots. A strategy combining Ant Colony Optimization (ACO) and gravity gradient inversion algorithm is proposed for motion planning of mobile robots. In this paper, in order to realize optimal motion planning strategy, the cost function in ACO is designed based on gravity gradient inversion algorithm. The obstacles around mobile robot can cause gravity gradient anomalies; the gradiometer is installed on the mobile robot to detect the gravity gradient anomalies. After obtaining the anomalies, gravity gradient inversion algorithm is employed to calculate relative distance and orientation between mobile robot and obstacles. The relative distance and orientation deduced from gravity gradient inversion algorithm is employed as cost function in ACO algorithm to realize motion planning. The proposed strategy is validated by the simulation and experiment results.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Motion%20planning" title="Motion planning">Motion planning</a>, <a href="https://publications.waset.org/search?q=gravity%20gradient%20inversion%20algorithm" title=" gravity gradient inversion algorithm"> gravity gradient inversion algorithm</a>, <a href="https://publications.waset.org/search?q=ant%20colony%20optimization." title=" ant colony optimization."> ant colony optimization.</a> </p> <a href="https://publications.waset.org/10011145/hybrid-gravity-gradient-inversion-ant-colony-optimization-algorithm-for-motion-planning-of-mobile-robots" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10011145/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10011145/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10011145/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10011145/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10011145/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10011145/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10011145/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10011145/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10011145/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10011145/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10011145.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1150</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1689</span> Classic and Heuristic Approaches in Robot Motion Planning A Chronological Review </h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Ellips%20Masehian">Ellips Masehian</a>, <a href="https://publications.waset.org/search?q=Davoud%20Sedighizadeh"> Davoud Sedighizadeh</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper reviews the major contributions to the Motion Planning (MP) field throughout a 35-year period, from classic approaches to heuristic algorithms. Due to the NP-Hardness of the MP problem, heuristic methods have outperformed the classic approaches and have gained wide popularity. After surveying around 1400 papers in the field, the amount of existing works for each method is identified and classified. Especially, the history and applications of numerous heuristic methods in MP is investigated. The paper concludes with comparative tables and graphs demonstrating the frequency of each MP method's application, and so can be used as a guideline for MP researchers. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Robot%20motion%20planning" title="Robot motion planning">Robot motion planning</a>, <a href="https://publications.waset.org/search?q=Heuristic%20algorithms." title=" Heuristic algorithms."> Heuristic algorithms.</a> </p> <a href="https://publications.waset.org/10300/classic-and-heuristic-approaches-in-robot-motion-planning-a-chronological-review" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10300/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10300/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10300/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10300/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10300/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10300/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10300/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10300/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10300/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10300/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10300.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">5188</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1688</span> Motion Planning and Posture Control of the General 3-Trailer System</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=K.%20Raghuwaiya">K. Raghuwaiya</a>, <a href="https://publications.waset.org/search?q=B.%20Sharma"> B. Sharma</a>, <a href="https://publications.waset.org/search?q=J.%20Vanualailai"> J. Vanualailai</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>This paper presents a set of artificial potential field functions that improves upon, in general, the motion planning and posture control, with theoretically guaranteed point and posture stabilities, convergence and collision avoidance properties of the <em>general</em>3-trailer system in <em>a priori</em> known environment. We basically design and inject two new concepts; <em>ghost walls</em> and the <em>distance optimization technique</em> (DOT) to strengthen point and posture stabilities, in the sense of Lyapunov, of our dynamical model. This new combination of techniques emerges as a convenient mechanism for obtaining feasible orientations at the target positions with an overall reduction in the complexity of the navigation laws. Simulations are provided to demonstrate the effectiveness of the controls laws.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Artificial%20potential%20fields" title="Artificial potential fields">Artificial potential fields</a>, <a href="https://publications.waset.org/search?q=3-trailer%20systems" title=" 3-trailer systems"> 3-trailer systems</a>, <a href="https://publications.waset.org/search?q=motion%20planning" title=" motion planning"> motion planning</a>, <a href="https://publications.waset.org/search?q=posture." title=" posture."> posture.</a> </p> <a href="https://publications.waset.org/9997845/motion-planning-and-posture-control-of-the-general-3-trailer-system" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/9997845/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/9997845/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/9997845/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/9997845/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/9997845/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/9997845/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/9997845/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/9997845/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/9997845/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/9997845/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/9997845.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">2151</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1687</span> Potential Field Functions for Motion Planning and Posture of the Standard 3-Trailer System</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=K.%20Raghuwaiya">K. Raghuwaiya</a>, <a href="https://publications.waset.org/search?q=S.%20Singh"> S. Singh</a>, <a href="https://publications.waset.org/search?q=B.%20Sharma"> B. Sharma</a>, <a href="https://publications.waset.org/search?q=J.%20Vanualailai"> J. Vanualailai</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>This paper presents a set of artificial potential field functions that improves upon, in general, the motion planning and posture control, with theoretically guaranteed point and posture stabilities, convergence and collision avoidance properties of 3-trailer systems in <em>a priori</em> known environment. We basically design and inject two new concepts; <em>ghost walls</em> and the <em>distance optimization technique</em> (DOT) to strengthen point and posture stabilities, in the sense of Lyapunov, of our dynamical model. This new combination of techniques emerges as a convenient mechanism for obtaining feasible orientations at the target positions with an overall reduction in the complexity of the navigation laws. The effectiveness of the proposed control laws were demonstrated via simulations of two traffic scenarios.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Artificial%20potential%20fields" title="Artificial potential fields">Artificial potential fields</a>, <a href="https://publications.waset.org/search?q=3-trailer%20systems" title=" 3-trailer systems"> 3-trailer systems</a>, <a href="https://publications.waset.org/search?q=motion%20planning" title=" motion planning"> motion planning</a>, <a href="https://publications.waset.org/search?q=posture" title=" posture"> posture</a>, <a href="https://publications.waset.org/search?q=parking%20and%20collision-free%20trajectories." title=" parking and collision-free trajectories."> parking and collision-free trajectories.</a> </p> <a href="https://publications.waset.org/9997841/potential-field-functions-for-motion-planning-and-posture-of-the-standard-3-trailer-system" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/9997841/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/9997841/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/9997841/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/9997841/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/9997841/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/9997841/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/9997841/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/9997841/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/9997841/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/9997841/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/9997841.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">2129</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1686</span> Dynamic Optimization of Industrial Servomechanisms using Motion Laws Based On Bezier Curves</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Giovanni%20Incerti">Giovanni Incerti</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>The motion planning procedure described in this paper has been developed in order to eliminate or reduce the residual vibrations of electromechanical positioning systems, without augmenting the motion time (usually imposed by production requirements), nor introducing overtime for vibration damping. The proposed technique is based on a suitable choice of the motion law assigned to the servomotor that drives the mechanism. The reference profile is defined by a Bezier curve, whose shape can be easily changed by modifying some numerical parameters. By means of an optimization technique these parameters can be modified without altering the continuity conditions imposed on the displacement and on its time derivatives at the initial and final time instants.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Servomechanism" title="Servomechanism">Servomechanism</a>, <a href="https://publications.waset.org/search?q=residual%20vibrations" title=" residual vibrations"> residual vibrations</a>, <a href="https://publications.waset.org/search?q=motion%20optimization." title=" motion optimization."> motion optimization.</a> </p> <a href="https://publications.waset.org/15158/dynamic-optimization-of-industrial-servomechanisms-using-motion-laws-based-on-bezier-curves" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/15158/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/15158/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/15158/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/15158/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/15158/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/15158/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/15158/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/15158/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/15158/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/15158/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/15158.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1414</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1685</span> Study on Robot Trajectory Planning by Robot End-Effector Using Dual Curvature Theory of the Ruled Surface</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Y.%20S.%20Oh">Y. S. Oh</a>, <a href="https://publications.waset.org/search?q=P.%20Abhishesh"> P. Abhishesh</a>, <a href="https://publications.waset.org/search?q=B.%20S.%20Ryuh"> B. S. Ryuh</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>This paper presents the method of trajectory planning by the robot end-effector which accounts for more accurate and smooth differential geometry of the ruled surface generated by tool line fixed with end-effector based on the methods of curvature theory of ruled surface and the dual curvature theory, and focuses on the underlying relation to unite them for enhancing the efficiency for trajectory planning. Robot motion can be represented as motion properties of the ruled surface generated by trajectory of the Tool Center Point (TCP). The linear and angular properties of the six degree-of-freedom motion of end-effector are computed using the explicit formulas and functions from curvature theory and dual curvature theory. This paper explains the complete dualization of ruled surface and shows that the linear and angular motion applied using the method of dual curvature theory is more accurate and less complex.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Dual%20curvature%20theory" title="Dual curvature theory">Dual curvature theory</a>, <a href="https://publications.waset.org/search?q=robot%20end%20effector" title=" robot end effector"> robot end effector</a>, <a href="https://publications.waset.org/search?q=ruled%20surface" title=" ruled surface"> ruled surface</a>, <a href="https://publications.waset.org/search?q=TCP" title=" TCP"> TCP</a>, <a href="https://publications.waset.org/search?q=tool%20center%20point." title=" tool center point."> tool center point.</a> </p> <a href="https://publications.waset.org/10006617/study-on-robot-trajectory-planning-by-robot-end-effector-using-dual-curvature-theory-of-the-ruled-surface" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10006617/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10006617/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10006617/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10006617/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10006617/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10006617/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10006617/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10006617/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10006617/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10006617/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10006617.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1350</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1684</span> Planning Rigid Body Motions and Optimal Control Problem on Lie Group SO(2, 1)</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Nemat%20Abazari">Nemat Abazari</a>, <a href="https://publications.waset.org/search?q=Ilgin%20Sager"> Ilgin Sager</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>In this paper smooth trajectories are computed in the Lie group SO(2, 1) as a motion planning problem by assigning a Frenet frame to the rigid body system to optimize the cost function of the elastic energy which is spent to track a timelike curve in Minkowski space. A method is proposed to solve a motion planning problem that minimizes the integral of the Lorentz inner product of Darboux vector of a timelike curve. This method uses the coordinate free Maximum Principle of Optimal control and results in the theory of integrable Hamiltonian systems. The presence of several conversed quantities inherent in these Hamiltonian systems aids in the explicit computation of the rigid body motions.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Optimal%20control" title="Optimal control">Optimal control</a>, <a href="https://publications.waset.org/search?q=Hamiltonian%20vector%20field" title=" Hamiltonian vector field"> Hamiltonian vector field</a>, <a href="https://publications.waset.org/search?q=Darboux%20vector" title=" Darboux vector"> Darboux vector</a>, <a href="https://publications.waset.org/search?q=maximum%20principle" title=" maximum principle"> maximum principle</a>, <a href="https://publications.waset.org/search?q=lie%20group" title=" lie group"> lie group</a>, <a href="https://publications.waset.org/search?q=rigid%20body%20motion" title=" rigid body motion"> rigid body motion</a>, <a href="https://publications.waset.org/search?q=Lorentz%20metric." title=" Lorentz metric."> Lorentz metric.</a> </p> <a href="https://publications.waset.org/12800/planning-rigid-body-motions-and-optimal-control-problem-on-lie-group-so2-1" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/12800/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/12800/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/12800/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/12800/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/12800/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/12800/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/12800/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/12800/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/12800/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/12800/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/12800.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1570</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1683</span> Geometric Data Structures and Their Selected Applications</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Milo%C5%A1%20%C5%A0eda">Milo拧艩eda</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Finding the shortest path between two positions is a fundamental problem in transportation, routing, and communications applications. In robot motion planning, the robot should pass around the obstacles touching none of them, i.e. the goal is to find a collision-free path from a starting to a target position. This task has many specific formulations depending on the shape of obstacles, allowable directions of movements, knowledge of the scene, etc. Research of path planning has yielded many fundamentally different approaches to its solution, mainly based on various decomposition and roadmap methods. In this paper, we show a possible use of visibility graphs in point-to-point motion planning in the Euclidean plane and an alternative approach using Voronoi diagrams that decreases the probability of collisions with obstacles. The second application area, investigated here, is focused on problems of finding minimal networks connecting a set of given points in the plane using either only straight connections between pairs of points (minimum spanning tree) or allowing the addition of auxiliary points to the set to obtain shorter spanning networks (minimum Steiner tree). <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=motion%20planning" title="motion planning">motion planning</a>, <a href="https://publications.waset.org/search?q=spanning%20tree" title=" spanning tree"> spanning tree</a>, <a href="https://publications.waset.org/search?q=Steiner%20tree" title=" Steiner tree"> Steiner tree</a>, <a href="https://publications.waset.org/search?q=Delaunay%20triangulation" title=" Delaunay triangulation"> Delaunay triangulation</a>, <a href="https://publications.waset.org/search?q=Voronoi%20diagram." title=" Voronoi diagram."> Voronoi diagram.</a> </p> <a href="https://publications.waset.org/8959/geometric-data-structures-and-their-selected-applications" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/8959/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/8959/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/8959/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/8959/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/8959/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/8959/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/8959/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/8959/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/8959/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/8959/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/8959.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1519</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1682</span> Motion Protection System Design for a Parallel Motion Platform</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Dongsu%20Wu">Dongsu Wu</a>, <a href="https://publications.waset.org/search?q=Hongbin%20Gu"> Hongbin Gu</a> </p> <p class="card-text"><strong>Abstract:</strong></p> A motion protection system is designed for a parallel motion platform with subsided cabin. Due to its complex structure, parallel mechanism is easy to encounter interference problems including link length limits, joints limits and self-collision. Thus a virtual spring algorithm in operational space is developed for the motion protection system to avoid potential damages caused by interference. Simulation results show that the proposed motion protection system can effectively eliminate interference problems and ensure safety of the whole motion platform. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Motion%20protection" title="Motion protection">Motion protection</a>, <a href="https://publications.waset.org/search?q=motion%20platform" title=" motion platform"> motion platform</a>, <a href="https://publications.waset.org/search?q=parallelmechanism" title=" parallelmechanism"> parallelmechanism</a>, <a href="https://publications.waset.org/search?q=Stewart%20platform" title=" Stewart platform"> Stewart platform</a>, <a href="https://publications.waset.org/search?q=collision%20avoidance." title=" collision avoidance."> collision avoidance.</a> </p> <a href="https://publications.waset.org/6968/motion-protection-system-design-for-a-parallel-motion-platform" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/6968/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/6968/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/6968/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/6968/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/6968/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/6968/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/6968/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/6968/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/6968/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/6968/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/6968.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1571</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1681</span> Motion Planning and Control of a Swarm of Boids in a 3-Dimensional Space</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Bibhya%20Sharma">Bibhya Sharma</a>, <a href="https://publications.waset.org/search?q=Jito%20Vanualailai"> Jito Vanualailai</a>, <a href="https://publications.waset.org/search?q=Jai%20Raj"> Jai Raj</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>In this paper, we propose a solution to the motion planning and control problem for a swarm of three-dimensional boids. The swarm exhibit collective emergent behaviors within the vicinity of the workspace. The capability of biological systems to autonomously maneuver, track and pursue evasive targets in a cluttered environment is vastly superior to any engineered system. It is considered an emergent behavior arising from simple rules that are followed by individuals and may not involve any central coordination. A generalized, yet scalable algorithm for attraction to the centroid and inter-individual swarm avoidance is proposed. We present a set of new continuous time-invariant velocity control laws, formulated via the Lyapunov-based control scheme for target attraction and collision avoidance. The controllers provide a collision-free trajectory. The control laws proposed in this paper also ensures practical stability of the system. The effectiveness of the control laws is demonstrated via computer simulations.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Swarm" title="Swarm">Swarm</a>, <a href="https://publications.waset.org/search?q=Practical%20stability" title=" Practical stability"> Practical stability</a>, <a href="https://publications.waset.org/search?q=Motion%20planning." title=" Motion planning."> Motion planning.</a> </p> <a href="https://publications.waset.org/9997321/motion-planning-and-control-of-a-swarm-of-boids-in-a-3-dimensional-space" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/9997321/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/9997321/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/9997321/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/9997321/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/9997321/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/9997321/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/9997321/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/9997321/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/9997321/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/9997321/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/9997321.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1914</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1680</span> Pseudo-polynomial Motion Commands for Vibration Suppression of Belt-driven Rotary Platforms</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Giovanni%20Incerti">Giovanni Incerti</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>The motion planning technique described in this paper has been developed to eliminate or reduce the residual vibrations of belt-driven rotary platforms, while maintaining unchanged the motion time and the total angular displacement of the platform. The proposed approach is based on a suitable choice of the motion command given to the servomotor that drives the mechanical device; this command is defined by some numerical coefficients which determine the shape of the displacement, velocity and acceleration profiles. Using a numerical optimization technique, these coefficients can be changed without altering the continuity conditions imposed on the displacement and its time derivatives at the initial and final time instants. The proposed technique can be easily and quickly implemented on an actual device, since it requires only a simple modification of the motion command profile mapped in the memory of the electronic motion controller.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Command%20shaping" title="Command shaping">Command shaping</a>, <a href="https://publications.waset.org/search?q=residual%20vibrations" title=" residual vibrations"> residual vibrations</a>, <a href="https://publications.waset.org/search?q=belt%20transmission" title=" belt transmission"> belt transmission</a>, <a href="https://publications.waset.org/search?q=servomechanism." title=" servomechanism."> servomechanism.</a> </p> <a href="https://publications.waset.org/14803/pseudo-polynomial-motion-commands-for-vibration-suppression-of-belt-driven-rotary-platforms" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/14803/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/14803/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/14803/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/14803/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/14803/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/14803/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/14803/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/14803/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/14803/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/14803/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/14803.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1510</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1679</span> Motion Detection Techniques Using Optical Flow</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=A.%20A.%20Shafie">A. A. Shafie</a>, <a href="https://publications.waset.org/search?q=Fadhlan%20Hafiz"> Fadhlan Hafiz</a>, <a href="https://publications.waset.org/search?q=M.%20H.%20Ali"> M. H. Ali</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Motion detection is very important in image processing. One way of detecting motion is using optical flow. Optical flow cannot be computed locally, since only one independent measurement is available from the image sequence at a point, while the flow velocity has two components. A second constraint is needed. The method used for finding the optical flow in this project is assuming that the apparent velocity of the brightness pattern varies smoothly almost everywhere in the image. This technique is later used in developing software for motion detection which has the capability to carry out four types of motion detection. The motion detection software presented in this project also can highlight motion region, count motion level as well as counting object numbers. Many objects such as vehicles and human from video streams can be recognized by applying optical flow technique. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Background%20modeling" title="Background modeling">Background modeling</a>, <a href="https://publications.waset.org/search?q=Motion%20detection" title=" Motion detection"> Motion detection</a>, <a href="https://publications.waset.org/search?q=Optical%0Aflow" title=" Optical flow"> Optical flow</a>, <a href="https://publications.waset.org/search?q=Velocity%20smoothness%20constant" title=" Velocity smoothness constant"> Velocity smoothness constant</a>, <a href="https://publications.waset.org/search?q=motion%20trajectories." title=" motion trajectories."> motion trajectories.</a> </p> <a href="https://publications.waset.org/8745/motion-detection-techniques-using-optical-flow" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/8745/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/8745/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/8745/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/8745/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/8745/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/8745/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/8745/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/8745/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/8745/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/8745/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/8745.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">5384</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1678</span> Breast Motion and Discomfort of Chinese Women in Three Breast Support Conditions</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=X.N.%20Chen">X.N. Chen</a>, <a href="https://publications.waset.org/search?q=J.P.%20Wang"> J.P. Wang</a>, <a href="https://publications.waset.org/search?q=D.%20Jiang"> D. Jiang</a>, <a href="https://publications.waset.org/search?q=S.M.%20Shen"> S.M. Shen</a>, <a href="https://publications.waset.org/search?q=Y.K.%20Yang"> Y.K. Yang</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Breast motion and discomfort has been studied in Australia, Britain and the United States, while little information was known about the breast motion conditions of Chinese women. The aim of this paper was to study the breast motion and discomfort of Chinese women in no bra condition, daily bra condition and sports bra condition. Breast motion and discomfort of 8 participants was assessed during walking at 5km h-1 and running at 10km h-1. Statistical methods were used to analyze the difference and relationship between breast displacement, perceived breast motion and breast discomfort. Three indexes were developed to evaluate the functions of bras on reducing objective breast motion, subjective breast motion and breast discomfort. The result showed that breast motion of Chinese women was smaller than previous research, which may be resulted from smaller breast size in Asian women. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Breast%20discomfort" title="Breast discomfort">Breast discomfort</a>, <a href="https://publications.waset.org/search?q=breast%20motion" title=" breast motion"> breast motion</a>, <a href="https://publications.waset.org/search?q=breast%20support%0Aconditions" title=" breast support conditions"> breast support conditions</a>, <a href="https://publications.waset.org/search?q=Chinese%20women." title=" Chinese women."> Chinese women.</a> </p> <a href="https://publications.waset.org/5000/breast-motion-and-discomfort-of-chinese-women-in-three-breast-support-conditions" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/5000/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/5000/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/5000/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/5000/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/5000/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/5000/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/5000/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/5000/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/5000/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/5000/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/5000.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">2480</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1677</span> Swarm Navigation in a Complex Environment</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Jai%20Raj">Jai Raj</a>, <a href="https://publications.waset.org/search?q=Jito%20Vanualailai"> Jito Vanualailai</a>, <a href="https://publications.waset.org/search?q=Bibhya%20Sharma"> Bibhya Sharma</a>, <a href="https://publications.waset.org/search?q=Shonal%20Singh"> Shonal Singh</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper proposes a solution to the motion planning and control problem of car-like mobile robots which is required to move safely to a designated target in a priori known workspace cluttered with swarm of boids exhibiting collective emergent behaviors. A generalized algorithm for target convergence and swarm avoidance is proposed that will work for any number of swarms. The control laws proposed in this paper also ensures practical stability of the system. The effectiveness of the proposed control laws are demonstrated via computer simulations of an emergent behavior. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Swarm" title="Swarm">Swarm</a>, <a href="https://publications.waset.org/search?q=practical%20stability" title=" practical stability"> practical stability</a>, <a href="https://publications.waset.org/search?q=motion%20planning" title=" motion planning"> motion planning</a>, <a href="https://publications.waset.org/search?q=emergent." title=" emergent."> emergent.</a> </p> <a href="https://publications.waset.org/6182/swarm-navigation-in-a-complex-environment" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/6182/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/6182/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/6182/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/6182/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/6182/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/6182/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/6182/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/6182/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/6182/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/6182/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/6182.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1396</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1676</span> ISME: Integrated Style Motion Editor for 3D Humanoid Character</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Ismahafezi%20Ismail">Ismahafezi Ismail</a>, <a href="https://publications.waset.org/search?q=Mohd%20Shahrizal%20Sunar"> Mohd Shahrizal Sunar</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>The motion of a realistic 3D humanoid character is very important especially for the industries developing computer animations and games. However, this type of motion is seen with a very complex dimensional data as well as body position, orientation, and joint rotation. Integrated Style Motion Editor (ISME), on the other hand, is a method used to alter the 3D humanoid motion capture data utilised in computer animation and games development. Therefore, this study was carried out with the purpose of demonstrating a method that is able to manipulate and deform different motion styles by integrating Key Pose Deformation Technique and Trajectory Control Technique. This motion editing method allows the user to generate new motions from the original motion capture data using a simple interface control. Unlike the previous method, our method produces a realistic humanoid motion style in real time.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Computer%20animation" title="Computer animation">Computer animation</a>, <a href="https://publications.waset.org/search?q=humanoid%20motion" title=" humanoid motion"> humanoid motion</a>, <a href="https://publications.waset.org/search?q=motion%20capture" title=" motion capture"> motion capture</a>, <a href="https://publications.waset.org/search?q=motion%20editing." title=" motion editing."> motion editing.</a> </p> <a href="https://publications.waset.org/10005702/isme-integrated-style-motion-editor-for-3d-humanoid-character" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10005702/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10005702/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10005702/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10005702/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10005702/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10005702/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10005702/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10005702/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10005702/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10005702/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10005702.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1273</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1675</span> Motion Area Estimated Motion Estimation with Triplet Search Patterns for H.264/AVC</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=T.%20Song">T. Song</a>, <a href="https://publications.waset.org/search?q=T.%20Shimamoto"> T. Shimamoto</a> </p> <p class="card-text"><strong>Abstract:</strong></p> In this paper a fast motion estimation method for H.264/AVC named Triplet Search Motion Estimation (TS-ME) is proposed. Similar to some of the traditional fast motion estimation methods and their improved proposals which restrict the search points only to some selected candidates to decrease the computation complexity, proposed algorithm separate the motion search process to several steps but with some new features. First, proposed algorithm try to search the real motion area using proposed triplet patterns instead of some selected search points to avoid dropping into the local minimum. Then, in the localized motion area a novel 3-step motion search algorithm is performed. Proposed search patterns are categorized into three rings on the basis of the distance from the search center. These three rings are adaptively selected by referencing the surrounding motion vectors to early terminate the motion search process. On the other hand, computation reduction for sub pixel motion search is also discussed considering the appearance probability of the sub pixel motion vector. From the simulation results, motion estimation speed improved by a factor of up to 38 when using proposed algorithm than that of the reference software of H.264/AVC with ignorable picture quality loss. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Motion%20estimation" title="Motion estimation">Motion estimation</a>, <a href="https://publications.waset.org/search?q=VLSI" title=" VLSI"> VLSI</a>, <a href="https://publications.waset.org/search?q=image%20processing" title=" image processing"> image processing</a>, <a href="https://publications.waset.org/search?q=search%20patterns" title=" search patterns"> search patterns</a> </p> <a href="https://publications.waset.org/5468/motion-area-estimated-motion-estimation-with-triplet-search-patterns-for-h264avc" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/5468/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/5468/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/5468/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/5468/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/5468/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/5468/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/5468/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/5468/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/5468/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/5468/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/5468.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1332</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1674</span> Can Nipple Be Used as a Good Indicator of Breast in Breast Motion Research?</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=X.N.%20Chen">X.N. Chen</a>, <a href="https://publications.waset.org/search?q=J.P.%20Wang"> J.P. Wang</a>, <a href="https://publications.waset.org/search?q=D.%20Jiang"> D. Jiang</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>There were many studies on how to alleviate breast discomfort by reducing breast motion, in which nipple motion was used to represent breast motion. However, this assumption had not been experimentally validated. The aim of this paper was to experimentally validate if nipple can be used as a good indicator of breast. Seven participants (average of 24.4 years old) were recruited to walk and run on the treadmill at 5km h-1 and 10km h-1 respectively. Six markers were pasted on their bodies to collect motion data of different parts of breasts. The results of Friedman test combined with the relationship among the five markers on the same breast revealed that nipple could be used as a good indicator of breast. Wilcoxon test showed that there was no significant (P<0.05) between left and right nipple-s motion, so left nipple and right nipple could both be used to represent breast motion.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Bra" title="Bra">Bra</a>, <a href="https://publications.waset.org/search?q=breast%20motion" title=" breast motion"> breast motion</a>, <a href="https://publications.waset.org/search?q=breast%20pain" title=" breast pain"> breast pain</a>, <a href="https://publications.waset.org/search?q=nipple." title=" nipple."> nipple.</a> </p> <a href="https://publications.waset.org/9187/can-nipple-be-used-as-a-good-indicator-of-breast-in-breast-motion-research" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/9187/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/9187/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/9187/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/9187/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/9187/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/9187/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/9187/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/9187/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/9187/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/9187/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/9187.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1832</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1673</span> An Optimal Control Problem for Rigid Body Motions on Lie Group SO(2, 1)</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Nemat%20Abazari">Nemat Abazari</a>, <a href="https://publications.waset.org/search?q=Ilgin%20Sager"> Ilgin Sager</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>In this paper smooth trajectories are computed in the Lie group SO(2, 1) as a motion planning problem by assigning a Frenet frame to the rigid body system to optimize the cost function of the elastic energy which is spent to track a timelike curve in Minkowski space. A method is proposed to solve a motion planning problem that minimize the integral of the square norm of Darboux vector of a timelike curve. This method uses the coordinate free Maximum Principle of Optimal control and results in the theory of integrable Hamiltonian systems. The presence of several conversed quantities inherent in these Hamiltonian systems aids in the explicit computation of the rigid body motions.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Optimal%20control" title="Optimal control">Optimal control</a>, <a href="https://publications.waset.org/search?q=Hamiltonian%20vector%20field" title=" Hamiltonian vector field"> Hamiltonian vector field</a>, <a href="https://publications.waset.org/search?q=Darboux%20vector" title=" Darboux vector"> Darboux vector</a>, <a href="https://publications.waset.org/search?q=maximum%20principle" title=" maximum principle"> maximum principle</a>, <a href="https://publications.waset.org/search?q=lie%20group" title=" lie group"> lie group</a>, <a href="https://publications.waset.org/search?q=Rigid%20body%20motion" title=" Rigid body motion"> Rigid body motion</a>, <a href="https://publications.waset.org/search?q=Lorentz%20metric." title=" Lorentz metric."> Lorentz metric.</a> </p> <a href="https://publications.waset.org/5392/an-optimal-control-problem-for-rigid-body-motions-on-lie-group-so2-1" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/5392/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/5392/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/5392/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/5392/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/5392/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/5392/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/5392/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/5392/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/5392/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/5392/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/5392.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1334</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1672</span> Self-protection Method for Flying Robots to Avoid Collision</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Guosheng%20Wu">Guosheng Wu</a>, <a href="https://publications.waset.org/search?q=Luning%20Wang"> Luning Wang</a>, <a href="https://publications.waset.org/search?q=Changyuan%20Fan"> Changyuan Fan</a>, <a href="https://publications.waset.org/search?q=Xi%20Zhu"> Xi Zhu</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>This paper provides a new approach to solve the motion planning problems of flying robots in uncertain 3D dynamic environments. The robots controlled by this method can adaptively choose the fast way to avoid collision without information about the shapes and trajectories of obstacles. Based on sphere coordinates the new method accomplishes collision avoidance of flying robots without any other auxiliary positioning systems. The Self-protection System gives robots self-protection abilities to work in uncertain 3D dynamic environments. Simulations illustrate the validity of the proposed method.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Collision%20avoidance" title="Collision avoidance">Collision avoidance</a>, <a href="https://publications.waset.org/search?q=Mobile%20robots" title=" Mobile robots"> Mobile robots</a>, <a href="https://publications.waset.org/search?q=Motion-planning" title="Motion-planning">Motion-planning</a>, <a href="https://publications.waset.org/search?q=Sphere%20coordinates" title=" Sphere coordinates"> Sphere coordinates</a>, <a href="https://publications.waset.org/search?q=Self-protection." title=" Self-protection."> Self-protection.</a> </p> <a href="https://publications.waset.org/9721/self-protection-method-for-flying-robots-to-avoid-collision" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/9721/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/9721/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/9721/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/9721/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/9721/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/9721/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/9721/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/9721/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/9721/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/9721/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/9721.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1581</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1671</span> Motion Planning and Control of Autonomous Robots in a Two-dimensional Plane</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Avinesh%20Prasad">Avinesh Prasad</a>, <a href="https://publications.waset.org/search?q=Bibhya%20Sharma"> Bibhya Sharma</a>, <a href="https://publications.waset.org/search?q=Jito%20Vanualailai"> Jito Vanualailai</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper proposes a solution to the motion planning and control problem of a point-mass robot which is required to move safely to a designated target in a priori known workspace cluttered with fixed elliptical obstacles of arbitrary position and sizes. A tailored and unique algorithm for target convergence and obstacle avoidance is proposed that will work for any number of fixed obstacles. The control laws proposed in this paper also ensures that the equilibrium point of the given system is asymptotically stable. Computer simulations with the proposed technique and applications to a planar (RP) manipulator will be presented. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Point-mass%20Robot" title="Point-mass Robot">Point-mass Robot</a>, <a href="https://publications.waset.org/search?q=Asymptotic%20stability" title=" Asymptotic stability"> Asymptotic stability</a>, <a href="https://publications.waset.org/search?q=Motionplanning" title=" Motionplanning"> Motionplanning</a>, <a href="https://publications.waset.org/search?q=Planar%20Robot%20Arm." title=" Planar Robot Arm."> Planar Robot Arm.</a> </p> <a href="https://publications.waset.org/13515/motion-planning-and-control-of-autonomous-robots-in-a-two-dimensional-plane" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/13515/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/13515/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/13515/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/13515/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/13515/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/13515/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/13515/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/13515/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/13515/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/13515/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/13515.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1669</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1670</span> Performance Enhancement of Motion Estimation Using SSE2 Technology</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Trung%20Hieu%20Tran">Trung Hieu Tran</a>, <a href="https://publications.waset.org/search?q=Hyo-Moon%20Cho"> Hyo-Moon Cho</a>, <a href="https://publications.waset.org/search?q=Sang-Bock%20Cho"> Sang-Bock Cho</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Motion estimation is the most computationally intensive part in video processing. Many fast motion estimation algorithms have been proposed to decrease the computational complexity by reducing the number of candidate motion vectors. However, these studies are for fast search algorithms themselves while almost image and video compressions are operated with software based. Therefore, the timing constraints for running these motion estimation algorithms not only challenge for the video codec but also overwhelm for some of processors. In this paper, the performance of motion estimation is enhanced by using Intel's Streaming SIMD Extension 2 (SSE2) technology with Intel Pentium 4 processor. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Motion%20Estimation" title="Motion Estimation">Motion Estimation</a>, <a href="https://publications.waset.org/search?q=Full%20Search" title=" Full Search"> Full Search</a>, <a href="https://publications.waset.org/search?q=Three%20StepSearch" title=" Three StepSearch"> Three StepSearch</a>, <a href="https://publications.waset.org/search?q=MMX%2FSSE%2FSSE2%20Technologies" title=" MMX/SSE/SSE2 Technologies"> MMX/SSE/SSE2 Technologies</a>, <a href="https://publications.waset.org/search?q=SIMD." title=" SIMD."> SIMD.</a> </p> <a href="https://publications.waset.org/214/performance-enhancement-of-motion-estimation-using-sse2-technology" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/214/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/214/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/214/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/214/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/214/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/214/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/214/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/214/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/214/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/214/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/214.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">2100</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1669</span> Efficient Block Matching Algorithm for Motion Estimation</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Zong%20Chen">Zong Chen</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Motion estimation is a key problem in video processing and computer vision. Optical flow motion estimation can achieve high estimation accuracy when motion vector is small. Three-step search algorithm can handle large motion vector but not very accurate. A joint algorithm was proposed in this paper to achieve high estimation accuracy disregarding whether the motion vector is small or large, and keep the computation cost much lower than full search. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Motion%20estimation" title="Motion estimation">Motion estimation</a>, <a href="https://publications.waset.org/search?q=Block%20Matching" title=" Block Matching"> Block Matching</a>, <a href="https://publications.waset.org/search?q=Optical%20flow" title=" Optical flow"> Optical flow</a>, <a href="https://publications.waset.org/search?q=Three%20step%20search." title="Three step search.">Three step search.</a> </p> <a href="https://publications.waset.org/1581/efficient-block-matching-algorithm-for-motion-estimation" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/1581/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/1581/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/1581/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/1581/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/1581/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/1581/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/1581/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/1581/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/1581/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/1581/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/1581.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">2167</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1668</span> Motion Prediction and Motion Vector Cost Reduction during Fast Block Motion Estimation in MCTF</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Karunakar%20A%20K">Karunakar A K</a>, <a href="https://publications.waset.org/search?q=Manohara%20Pai%20M%20M"> Manohara Pai M M</a> </p> <p class="card-text"><strong>Abstract:</strong></p> In 3D-wavelet video coding framework temporal filtering is done along the trajectory of motion using Motion Compensated Temporal Filtering (MCTF). Hence computationally efficient motion estimation technique is the need of MCTF. In this paper a predictive technique is proposed in order to reduce the computational complexity of the MCTF framework, by exploiting the high correlation among the frames in a Group Of Picture (GOP). The proposed technique applies coarse and fine searches of any fast block based motion estimation, only to the first pair of frames in a GOP. The generated motion vectors are supplied to the next consecutive frames, even to subsequent temporal levels and only fine search is carried out around those predicted motion vectors. Hence coarse search is skipped for all the motion estimation in a GOP except for the first pair of frames. The technique has been tested for different fast block based motion estimation algorithms over different standard test sequences using MC-EZBC, a state-of-the-art scalable video coder. The simulation result reveals substantial reduction (i.e. 20.75% to 38.24%) in the number of search points during motion estimation, without compromising the quality of the reconstructed video compared to non-predictive techniques. Since the motion vectors of all the pair of frames in a GOP except the first pair will have value 卤1 around the motion vectors of the previous pair of frames, the number of bits required for motion vectors is also reduced by 50%. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Motion%20Compensated%20Temporal%20Filtering" title="Motion Compensated Temporal Filtering">Motion Compensated Temporal Filtering</a>, <a href="https://publications.waset.org/search?q=predictivemotion%20estimation" title=" predictivemotion estimation"> predictivemotion estimation</a>, <a href="https://publications.waset.org/search?q=lifted%20wavelet%20transform" title=" lifted wavelet transform"> lifted wavelet transform</a>, <a href="https://publications.waset.org/search?q=motion%20vector" title=" motion vector"> motion vector</a> </p> <a href="https://publications.waset.org/6910/motion-prediction-and-motion-vector-cost-reduction-during-fast-block-motion-estimation-in-mctf" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/6910/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/6910/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/6910/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/6910/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/6910/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/6910/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/6910/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/6910/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/6910/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/6910/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/6910.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1619</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1667</span> An Immersive Motion Capture Environment</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Daniel%20Kade">Daniel Kade</a>, <a href="https://publications.waset.org/search?q=O%C4%9Fuzhan%20%C3%96zcan"> O臒uzhan 脰zcan</a>, <a href="https://publications.waset.org/search?q=Rikard%20Lindell"> Rikard Lindell</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Motion capturing technology has been used for quite a while and several research has been done within this area. Nevertheless, we discovered open issues within current motion capturing environments. In this paper we provide a state-of-the-art overview of the addressed research areas and show issues with current motion capturing environments. Observations, interviews and questionnaires have been used to reveal the challenges actors are currently facing in a motion capturing environment. Furthermore, the idea to create a more immersive motion capturing environment to improve the acting performances and motion capturing outcomes as a potential solution is introduced. It is hereby the goal to explain the found open issues and the developed ideas which shall serve for further research as a basis. Moreover, a methodology to address the interaction and systems design issues is proposed. A future outcome could be that motion capture actors are able to perform more naturally, especially if using a non-body-worn solution. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Immersive%20acting%20environment" title="Immersive acting environment">Immersive acting environment</a>, <a href="https://publications.waset.org/search?q=Interaction%20in%20a%0Amediated%20environment" title=" Interaction in a mediated environment"> Interaction in a mediated environment</a>, <a href="https://publications.waset.org/search?q=Motion%20capturing" title=" Motion capturing"> Motion capturing</a>, <a href="https://publications.waset.org/search?q=MoCap." title=" MoCap."> MoCap.</a> </p> <a href="https://publications.waset.org/9421/an-immersive-motion-capture-environment" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/9421/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/9421/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/9421/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/9421/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/9421/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/9421/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/9421/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/9421/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/9421/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/9421/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/9421.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1662</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1666</span> A New Center of Motion in Cabling Robots</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=A.%20Abbasi%20Moshaii">A. Abbasi Moshaii</a>, <a href="https://publications.waset.org/search?q=F.%20Najafi"> F. Najafi</a> </p> <p class="card-text"><strong>Abstract:</strong></p> In this paper a new model for center of motion creating is proposed. This new method uses cables. So, it is very useful in robots because it is light and has easy assembling process. In the robots which need to be in touch with some things this method is so useful. It will be described in the following. The accuracy of the idea is proved by two experiments. This system could be used in the robots which need a fixed point in the contact with some things and make a circular motion. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Center%20of%20Motion" title="Center of Motion">Center of Motion</a>, <a href="https://publications.waset.org/search?q=Robotic%20cables" title=" Robotic cables"> Robotic cables</a>, <a href="https://publications.waset.org/search?q=permanent%0D%0Atouching." title=" permanent touching."> permanent touching.</a> </p> <a href="https://publications.waset.org/10001850/a-new-center-of-motion-in-cabling-robots" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10001850/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10001850/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10001850/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10001850/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10001850/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10001850/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10001850/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10001850/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10001850/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10001850/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10001850.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1668</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1665</span> Robot Path Planning in 3D Space Using Binary Integer Programming </h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Ellips%20Masehian">Ellips Masehian</a>, <a href="https://publications.waset.org/search?q=Golnaz%20Habibi"> Golnaz Habibi</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper presents a novel algorithm for path planning of mobile robots in known 3D environments using Binary Integer Programming (BIP). In this approach the problem of path planning is formulated as a BIP with variables taken from 3D Delaunay Triangulation of the Free Configuration Space and solved to obtain an optimal channel made of connected tetrahedrons. The 3D channel is then partitioned into convex fragments which are used to build safe and short paths within from Start to Goal. The algorithm is simple, complete, does not suffer from local minima, and is applicable to different workspaces with convex and concave polyhedral obstacles. The noticeable feature of this algorithm is that it is simply extendable to n-D Configuration spaces. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=3D%20C-space" title="3D C-space">3D C-space</a>, <a href="https://publications.waset.org/search?q=Binary%20Integer%20Programming%20%28BIP%29" title=" Binary Integer Programming (BIP)"> Binary Integer Programming (BIP)</a>, <a href="https://publications.waset.org/search?q=Delaunay%20Tessellation" title="Delaunay Tessellation">Delaunay Tessellation</a>, <a href="https://publications.waset.org/search?q=Robot%20Motion%20Planning." title=" Robot Motion Planning."> Robot Motion Planning.</a> </p> <a href="https://publications.waset.org/9279/robot-path-planning-in-3d-space-using-binary-integer-programming" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/9279/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/9279/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/9279/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/9279/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/9279/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/9279/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/9279/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/9279/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/9279/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/9279/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/9279.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">2474</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1664</span> Adaptive Path Planning for Mobile Robot Obstacle Avoidance</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Rong-Jong%20Wai">Rong-Jong Wai</a>, <a href="https://publications.waset.org/search?q=Chia-Ming%20Liu"> Chia-Ming Liu</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Generally speaking, the mobile robot is capable of sensing its surrounding environment, interpreting the sensed information to obtain the knowledge of its location and the environment, planning a real-time trajectory to reach the object. In this process, the issue of obstacle avoidance is a fundamental topic to be challenged. Thus, an adaptive path-planning control scheme is designed without detailed environmental information, large memory size and heavy computation burden in this study for the obstacle avoidance of a mobile robot. In this scheme, the robot can gradually approach its object according to the motion tracking mode, obstacle avoidance mode, self-rotation mode, and robot state selection. The effectiveness of the proposed adaptive path-planning control scheme is verified by numerical simulations of a differential-driving mobile robot under the possible occurrence of obstacle shapes. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Adaptive%20Path%20Planning" title="Adaptive Path Planning">Adaptive Path Planning</a>, <a href="https://publications.waset.org/search?q=Mobile%20Robot%20ObstacleAvoidance" title=" Mobile Robot ObstacleAvoidance"> Mobile Robot ObstacleAvoidance</a> </p> <a href="https://publications.waset.org/4784/adaptive-path-planning-for-mobile-robot-obstacle-avoidance" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/4784/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/4784/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/4784/chicago" 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