Publications (48) View all
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Conference Proceeding: A Hybrid, PDE-ODE Controller for Intercepting an Intelligent, Well-informed Target in a Stationary, Cluttered Environment
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ABSTRACT: A new class of intelligent controllers that can semantically embed an agent in a spatial context constraining its behavior in a goal-oriented manner was suggested in [1,11]. A controller of such a class can guide an agent in a stationary unknown environment to a fixed target zone along an obstacle-free trajectory. Here, an extension is suggested that would enable the interception of an intelligent target that is maneuvering to evade capture amidst stationary clutter (i.e. the target zone is moving). This is achieved by forcing the differential properties of the potential field used to induce the control action to satisfy the wave equation. Theoretical developments, as well as, proofs of the ability of the modified control to intercept the target along an obstacle-free trajectory are supplied. Simulation results are also provided.Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05. 44th IEEE Conference on; 01/2006 -
Conference Proceeding: Solid mechanics-inspired sensor-based motion planner
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ABSTRACT: In this paper a motion planner capable of laying a trajectory for a robot operating in a complex, stationary, unknown environment based on the sensory data it acquires online from its finite range sensors is suggested. The planner utilizes concepts from the area of mechanics of solids to generate the navigation field. A new setting for the biharmonic potential field approach to planning (K. Hashimoto et al., 2000) is suggested. The new setting makes it possible to gradually feed the parts of the environment, as they are discovered online by the sensors of the robot, to the biharmonic potential-based planner. Theoretical developments of the method as well as simulation results are providedControl Applications, 2005. CCA 2005. Proceedings of 2005 IEEE Conference on; 09/2005 -
Article: Proceedings of the 2000 IEEE
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ABSTRACT: Recently, the authors suggested a new class of Intelligent Motion Controllers that are called Evolutionary, Hybrid, PDEODE Controllers (EHPCs) [33]. A controller of such a class is designed for the special task of guiding an agent in a fully unknown environment to a target set along an obstacle-free trajectory. In a short compaion paper, the authors breifly described an extension that would allow an EHPC to jointly condition a motion trajectory with both directional and region avoidance constraints [34]. In this paper, an indepth investigation of the proposed extension is provideo[ Also, mathematical proofs of both convergence, and the ability to enforce directional and region avoidance constraints are supplied.11/2002; -
Article: Decentralized Self-Organizing Potential Field-Based Control for Individually Motivated Mobile Agents in a Cluttered Environment: A Vector-Harmonic Potential Field Approach
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ABSTRACT: Spatial multiagency has been receiving growing attention from researchers exploring many of the aspects and modalities of this phenomenon. The aim is to develop the theoretical background needed for a multitude of applications involving the sharing of resources by more than one agent. A traffic management system is one of these applications. Here, a large group of mobile robots that are operating in communication-limited, and sensory-limited modes are required to cope with each others presence as well as the contents of their environment while preserving their ability to reach their preset independent goals. This paper explores the construction of a decentralized traffic controller for a large group of agents sharing a workspace with stationary forbidden regions. The suggested multiagent motion controller is complete provided that a lenient condition on the geometry of the workspace is upheld. It has a low computational effort that linearly increases with the number of agents. The controller is also self-organizing; therefore, it is able to deal, on its own, with incomplete information and unexpected situations. In addition to the above, the controller has an open structure to enable any agent to join or leave the group without the remaining agents having to adjust the manner in which they function. To meet these requirements, a definition of decentralization is suggested. This definition equates decentralization to self-organization in a group of agents operating in an artificial-life mode. The definition is used to provide guidelines for the construction of the multiagent controller. The controller is realized using the potential field approach. Theoretical developments, as well as simulation results, are providedIEEE Transactions on Systems Man and Cybernetics - Part A Systems and Humans 06/2007; · 2.12 Impact Factor -
Conference Proceeding: Escaping capture by multiple, intelligent, well-informed, cooperative pursuers amidst stationary clutter
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ABSTRACT: In this paper a new potential field approach is suggested for the evasive navigation of an agent that is engaging multiple pursuers in a stationary environment. Here, the gradient of a potential field that is generated by solving the Poisson equation subject to a set of mixed boundary conditions is used to generate a sequence of directions to guide the motion of an evader so that it will escape a group of pursuers while avoiding a set of forbidden regions (clutter). The focus here is on continuous evasion where the agent does not have the benefit of a target zone (e.g., a shelter) which up on reaching it can discontinue engaging the pursuers. The capabilities of the approach are demonstrated using simulation experiments.Decision and Control, 2003. Proceedings. 42nd IEEE Conference on; 01/2004
