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Detecting unexpected obstacles and avoiding collisions is an important task for any autonomous mobile system. This article describes GANESHA (Grid based Approach for Navigation by Evidence Storage and Histogram Analysis), a system using sonar that we implemented for the autonomous land vehicle...
The purpose of this paper is twofold. First, we outline important issues in designing real-time controllers for robots with numerous sensors, actuators, and behaviors. We address these issues by implementing a behavior based controller on a sophisticated autonomous robot. Hence, this work...
Most autonomous outdoor navigation systems tested on actual robots have centered on local navigation tasks such as avoiding obstacles or following roads. Global navigation has been limited to simple wandering, path tracking, straight-line goal seeking behaviors, or executing a sequence of...
Spinning gaits are used for altering the direction of body in a narrow space. Previous studies reveal thatz type leg-lifting sequence is suitable for spinning motion. In this paper, we focus on anz type aperiodic spinning gait for a quadruped walking robot. We proposed a condition of support...
A collective computational architecture and real-time, analog VLSI implementation for localizing and tracking a stimulus in a sensory image are developed. This architecture is presented as a layered two-dimensional computationalframework which generates signals to autonomously control a...
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