TY - JOUR AU - Cai, Peng AU - Yue, Xiaokui AU - Zhang, Hongwen TI - ADD-RRV for motion planning in complex environments JF - ROBOTICA J2 - ROBOTICA VL - 1 PY - 2021 IS - 1 SP - 1 EP - 18 PG - 18 SN - 0263-5747 DO - 10.1017/S0263574721000436 UR - https://m2.mtmt.hu/api/publication/32023976 ID - 32023976 LA - English DB - MTMT ER - TY - JOUR AU - Szumowski, Maksymilian AU - Zielińska, Teresa TI - Humanoid Robot Path Planning Using Rapidly Explored Random Tree and Motion Primitives JF - JOURNAL OF AUTOMATION MOBILE ROBOTICS AND INTELLIGENT SYSTEMS J2 - J AUTOMAT MOBIL ROBOT INTELL SYST VL - 15 PY - 2021 IS - 1 SP - 24 EP - 30 PG - 7 SN - 1897-8649 DO - 10.14313/JAMRIS/1-2021/3 UR - https://m2.mtmt.hu/api/publication/33623084 ID - 33623084 AB - Path planning is an essential part of the control system of any mobile robot. In this article the path planner for a humanoid robot is presented. The short description of an universal control framework and the Motion Generation System is also presented. Described path planner utilizes a limited number of motions called the Motion Primitives. They are generated by Motion Generation System. Four different algorithms, namely the: Informed RRT, Informed RRT with random bias, and RRT with A* likeheuristics were tested. For the last one the version with biased random function was also considered. All mentioned algorithms were evaluated considering three dif ferent scenarios. Obtained results are described and discussed. LA - English DB - MTMT ER - TY - JOUR AU - Vonásek, Vojtěch AU - Pěnička, Robert AU - Kozlíková, Barbora TI - Searching Multiple Approximate Solutions in Configuration Space to Guide Sampling-Based Motion Planning JF - JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS J2 - J INTELL ROBOT SYST PY - 2020 SP - 1 EP - 17 PG - 17 SN - 0921-0296 DO - 10.1007/s10846-020-01247-4 UR - https://m2.mtmt.hu/api/publication/31607785 ID - 31607785 LA - English DB - MTMT ER - TY - JOUR AU - Khaksar, W. AU - Hong, T.S. AU - Sahari, K.S.M. AU - Khaksar, M. AU - Torresen, J. TI - Sampling-based online motion planning for mobile robots: utilization of Tabu search and adaptive neuro-fuzzy inference system JF - NEURAL COMPUTING & APPLICATIONS J2 - NEURAL COMPUT APPL VL - 31 PY - 2019 SP - 1275 EP - 1289 PG - 15 SN - 0941-0643 DO - 10.1007/s00521-017-3069-6 UR - https://m2.mtmt.hu/api/publication/30787417 ID - 30787417 N1 - Export Date: 4 September 2019 LA - English DB - MTMT ER - TY - JOUR AU - Urul, Bülent AU - Tütüncü, Bilal AU - Helhel, Selcuk TI - A fast and novel method for determining working volume in the reverberation chamber: Position of Tx antenna affect JF - MICROWAVE AND OPTICAL TECHNOLOGY LETTERS J2 - MICROW OPT TECHN LET VL - 0 PY - 2019 IS - 0 SN - 0895-2477 DO - 10.1002/mop.31997 UR - https://m2.mtmt.hu/api/publication/30793125 ID - 30793125 AB - Abstract Reverberation chambers (RCs) are cheaper alternatives to anechoic chambers (ACs), and they are mainly made up of metal (ideally perfect and smooth) covered rooms. Their designs are not sophisticated as in AC, and EMC tests at precompliance level can be applied within a certain interval of error. For applying EMC tests to any equipment under test (EUT), the electric field uniformity in the room must be satisfied within a certain error. The volume having a uniform electric field is called as working volume (WV) where EUT for being subjected to EMC tests will be placed in. Positions and dimensions of scatterer such as Tx antenna that must be in the room determine the dimension of WV. Classically, position of transmitting antenna is changed continuously and randomly till obtaining WV and this process ends at any time within 3?days. Industry is always hurried and wants to know when to start testing. In this study, a fast and novel method with data mining has been proposed for overcoming this problem, and it achieves a success rate of 96% in 4-5 hours. The model was tested for 10 different angles of rotation of the stirrer and 97% accuracy was achieved. LA - English DB - MTMT ER - TY - BOOK AU - Vonásek, V. AU - Pěnička, R. TI - Computation of Approximate Solutions for Guided Sampling-Based Motion Planning of 3D Objects PY - 2019 SP - 231 EP - 238 SP - 8 SN - 2575-5579 DO - 10.1109/RoMoCo.2019.8787344 UR - https://m2.mtmt.hu/api/publication/30787605 ID - 30787605 AB - Motion planning of 3D solid objects leads to a search in a 6D configuration space. Sampling-based planners randomly sample the configuration space and store the collision-free samples into a graph (roadmap) that can be searched by standard graph-search methods. The well-known issue of the sampling-based planners is the narrow passage problem. Narrow passages are small collision-free regions in the configuration space that are, due to their low volume, difficult to cover by the random samples, which prevents the sampling-based planners to find a path leading through the passages. By decreasing the size of the object, the relative volume of the narrow passages is increased, which helps to cover them more densely. This allows the planner to find an approximate solution, i.e., a solution feasible for the smaller object. The approximate solution can be then used to iteratively guide the sampling in the configuration space, while increasing the size of the object, until a solution for the original object is found. In this paper, we propose a modification of the iterative guiding process. To avoid a situation where the part of the guiding path is too close to obstacles of the configuration space, we shift it away from the obstacles. This requires to estimate the surface of the obstacle region, which is achieved by detecting its boundary configurations during the sampling process. Experiments have shown that the proposed modification outperforms the simple guiding using approximate solutions, as well as other related state-of-the-art planners. LA - English DB - MTMT ER - TY - JOUR AU - Vonásek, V. AU - Jurčík, A. AU - Furmanová, K. AU - Kozlíková, B. TI - Sampling-Based Motion Planning for Tracking Evolution of Dynamic Tunnels in Molecular Dynamics Simulations JF - JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS J2 - J INTELL ROBOT SYST VL - 93 PY - 2019 IS - 3-4 SP - 763 EP - 785 PG - 23 SN - 0921-0296 DO - 10.1007/s10846-018-0877-6 UR - https://m2.mtmt.hu/api/publication/30787416 ID - 30787416 N1 - Cited By :1 Export Date: 4 September 2019 LA - English DB - MTMT ER - TY - CHAP AU - Vonasek, Vojtech AU - Penicka, Robert TI - Path planning of 3D solid objects using approximate solutions T2 - 2019 24TH IEEE INTERNATIONAL CONFERENCE ON EMERGING TECHNOLOGIES AND FACTORY AUTOMATION (ETFA) PB - IEEE CY - New York, New York CY - Piscataway (NJ) SN - 9781728103037 T3 - IEEE International Conference on Emerging Technologies and Factory Automation, ISSN 1946-0740 PY - 2019 SP - 593 EP - 600 PG - 8 DO - 10.1109/ETFA.2019.8869344 UR - https://m2.mtmt.hu/api/publication/31856758 ID - 31856758 LA - English DB - MTMT ER - TY - CHAP AU - Vonasek, V. TI - Motion planning of 3D objects using Rapidly Exploring Random Tree guided by approximate solutions T2 - IEEE International Conference on Emerging Technologies and Factory Automation, ETFA VL - 2018-September T3 - ; 2018-September. PY - 2018 SP - 713 EP - 720 PG - 8 DO - 10.1109/ETFA.2018.8502446 UR - https://m2.mtmt.hu/api/publication/30787418 ID - 30787418 N1 - Cited By :1 Export Date: 4 September 2019 LA - English DB - MTMT ER - TY - CHAP AU - Cirillo, M AU - Uras, T AU - Koenig, S ED - IEEE, Staff TI - A lattice-based approach to multi-robot motion planning for non-holonomic vehicles T2 - Proceedings of 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014) PB - IEEE Robotics and Automation Society CY - New York, New York SN - 9781479969333 PB - Institute of Electrical and Electronics Engineers (IEEE) PY - 2014 SP - 232 EP - 239 PG - 8 DO - 10.1109/IROS.2014.6942566 UR - https://m2.mtmt.hu/api/publication/27210775 ID - 27210775 N1 - Cited By :16 Export Date: 4 September 2019 LA - English DB - MTMT ER - TY - JOUR AU - Xu, N AU - Chen, X AU - Kong, Q AU - Han, J TI - Motion planning for robot with nonholonomic constraints JF - JIQIREN / ROBOT J2 - ROBOT VL - 33 PY - 2011 IS - 6 SP - 666 EP - 672 PG - 7 SN - 1002-0446 DO - 10.3724/SP.J.1218.2011.00666 UR - https://m2.mtmt.hu/api/publication/23886381 ID - 23886381 LA - Chinese DB - MTMT ER - TY - CHAP AU - Dvoøák, J AU - Krèek, P ED - Radek, M TI - Path planning for nonholonomic robots T2 - 15th International Conference on Soft Computing (MENDEL 2009) PB - Mendelova univerzita v Brne CY - Brno SN - 9788021438842 T3 - MENDEL, ISSN 1803-3814 PB - Brno University of Technology PY - 2009 SP - 336 EP - 343 PG - 8 UR - https://m2.mtmt.hu/api/publication/27210776 ID - 27210776 N1 - Cited By :1 Export Date: 4 September 2019 LA - English DB - MTMT ER -