Temporal coordination of simulated timed trajectories for two vision-guided vehicles

Detalhes bibliográficos
Autor(a) principal: Santos, Cristina
Data de Publicação: 2006
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: http://hdl.handle.net/1822/7993
Resumo: We present an attractor based dynamics that autonomously generates temporally discrete movements and temporally coordinated movements for two vehicles, stably adapted to changing online sensory information. Movement termination is entirely sensor driven. We build on a previously proposed solution in which timed trajectories and sequences of movements were generated as attractor solutions of dynamic systems. We present a novel system composed of two coupled dynamical architectures that temporally coordinate the solutions of these dynamical systems. The coupled dynamics enable synchronization of the different components providing an independence relatively to the specification of their individual parameters. We apply this architecture to generate temporally coordinated trajectories for two vision-guided mobile robots in a simulated environment, whose goal is to reach a target in an approximately constant time while navigating within a non-structured environment. The results illustrate the robustness of the proposed decisionmaking mechanism and show that the two vehicles are temporal coordinated: they terminate their movements approximately simultaneously.
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spelling Temporal coordination of simulated timed trajectories for two vision-guided vehiclesNon-linear dynamical systemsAutonomyRoboticsTimed trajectoriesCompetitive dynamicsTimingWe present an attractor based dynamics that autonomously generates temporally discrete movements and temporally coordinated movements for two vehicles, stably adapted to changing online sensory information. Movement termination is entirely sensor driven. We build on a previously proposed solution in which timed trajectories and sequences of movements were generated as attractor solutions of dynamic systems. We present a novel system composed of two coupled dynamical architectures that temporally coordinate the solutions of these dynamical systems. The coupled dynamics enable synchronization of the different components providing an independence relatively to the specification of their individual parameters. We apply this architecture to generate temporally coordinated trajectories for two vision-guided mobile robots in a simulated environment, whose goal is to reach a target in an approximately constant time while navigating within a non-structured environment. The results illustrate the robustness of the proposed decisionmaking mechanism and show that the two vehicles are temporal coordinated: they terminate their movements approximately simultaneously.Universidade do MinhoSantos, Cristina2006-09-112006-09-11T00:00:00Zconference paperinfo:eu-repo/semantics/publishedVersionapplication/pdfhttp://hdl.handle.net/1822/7993engPORTUGUESE CONFERENCE ON AUTOMATIC CONTROL, 7, Lisboa, 2006 - “Portuguese Conference on Automatic Control : CONTROLO 2006 : proceedings”. [Lisboa : APCA/IST , 2006] ISBN 978-972-97025-2-5.info:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2024-05-11T05:17:09Zoai:repositorium.sdum.uminho.pt:1822/7993Portal AgregadorONGhttps://www.rcaap.pt/oai/openairemluisa.alvim@gmail.comopendoar:71602024-05-11T05:17:09Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse
dc.title.none.fl_str_mv Temporal coordination of simulated timed trajectories for two vision-guided vehicles
title Temporal coordination of simulated timed trajectories for two vision-guided vehicles
spellingShingle Temporal coordination of simulated timed trajectories for two vision-guided vehicles
Santos, Cristina
Non-linear dynamical systems
Autonomy
Robotics
Timed trajectories
Competitive dynamics
Timing
title_short Temporal coordination of simulated timed trajectories for two vision-guided vehicles
title_full Temporal coordination of simulated timed trajectories for two vision-guided vehicles
title_fullStr Temporal coordination of simulated timed trajectories for two vision-guided vehicles
title_full_unstemmed Temporal coordination of simulated timed trajectories for two vision-guided vehicles
title_sort Temporal coordination of simulated timed trajectories for two vision-guided vehicles
author Santos, Cristina
author_facet Santos, Cristina
author_role author
dc.contributor.none.fl_str_mv Universidade do Minho
dc.contributor.author.fl_str_mv Santos, Cristina
dc.subject.por.fl_str_mv Non-linear dynamical systems
Autonomy
Robotics
Timed trajectories
Competitive dynamics
Timing
topic Non-linear dynamical systems
Autonomy
Robotics
Timed trajectories
Competitive dynamics
Timing
description We present an attractor based dynamics that autonomously generates temporally discrete movements and temporally coordinated movements for two vehicles, stably adapted to changing online sensory information. Movement termination is entirely sensor driven. We build on a previously proposed solution in which timed trajectories and sequences of movements were generated as attractor solutions of dynamic systems. We present a novel system composed of two coupled dynamical architectures that temporally coordinate the solutions of these dynamical systems. The coupled dynamics enable synchronization of the different components providing an independence relatively to the specification of their individual parameters. We apply this architecture to generate temporally coordinated trajectories for two vision-guided mobile robots in a simulated environment, whose goal is to reach a target in an approximately constant time while navigating within a non-structured environment. The results illustrate the robustness of the proposed decisionmaking mechanism and show that the two vehicles are temporal coordinated: they terminate their movements approximately simultaneously.
publishDate 2006
dc.date.none.fl_str_mv 2006-09-11
2006-09-11T00:00:00Z
dc.type.driver.fl_str_mv conference paper
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/1822/7993
url http://hdl.handle.net/1822/7993
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv PORTUGUESE CONFERENCE ON AUTOMATIC CONTROL, 7, Lisboa, 2006 - “Portuguese Conference on Automatic Control : CONTROLO 2006 : proceedings”. [Lisboa : APCA/IST , 2006] ISBN 978-972-97025-2-5.
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.source.none.fl_str_mv reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron:RCAAP
instname_str Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron_str RCAAP
institution RCAAP
reponame_str Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
collection Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
repository.name.fl_str_mv Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
repository.mail.fl_str_mv mluisa.alvim@gmail.com
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