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Hybrid Feedback Control for Path Tracking With a BoundedCurvature Vehicle
"... 1 Introduction The design of control techniques for nonholonomic vehicles is a topic of extensive research #see e.g. #1#, #2#, #3#, #4##. For nonholonomic systems, the problem of tracking a path is simpler in principle than stabilizing to a point 1 . By #path" we refer to a curve #with some ..."
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Cited by 7 (0 self)
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1 Introduction The design of control techniques for nonholonomic vehicles is a topic of extensive research #see e.g. #1#, #2#, #3#, #4##. For nonholonomic systems, the problem of tracking a path is simpler in principle than stabilizing to a point 1 . By #path" we refer to a curve #with some
Path–following with a bounded–curvature vehicle: a hybrid control approach
 International Journal of Control
, 2005
"... In this paper, we consider the problem of stabilizing the kinematic model of a car to a path in the plane under rather general conditions. The path is subject to very mild restrictions, while the car model, although rather simplified, contains the most relevant limitations inherent in wheeled robots ..."
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Cited by 3 (0 self)
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to the closest point on the reference path can be measured but only the sign of the path curvature is detected. These constraints are such to make classical control techniques inefficient. As the feedback information is both continuous and discrete, the hybrid systems formalism turns out to be well appropriate
Optimal Feedback Control for Route Tracking With a BoundedCurvature Vehicle
"... We consider the kinematic model of vehicle moving forward with a lower bounded turning radius. This model, sometimes referred to as #Dubins' vehicle", is relevantto the kinematics of road vehicles as well as aircraft cruising at constant altitude, or sea vessels. We consider the optimal c ..."
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We consider the kinematic model of vehicle moving forward with a lower bounded turning radius. This model, sometimes referred to as #Dubins' vehicle", is relevantto the kinematics of road vehicles as well as aircraft cruising at constant altitude, or sea vessels. We consider the optimal
A Tutorial on Visual Servo Control
 IEEE Transactions on Robotics and Automation
, 1996
"... This paper provides a tutorial introduction to visual servo control of robotic manipulators. Since the topic spans many disciplines our goal is limited to providing a basic conceptual framework. We begin by reviewing the prerequisite topics from robotics and computer vision, including a brief review ..."
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Cited by 822 (25 self)
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visual servo system must be capable of tracking image features in a sequence of images, we include an overview of featurebased and correlationbased methods for tracking. We conclude the tutorial with a number of observations on the current directions of the research field of visual servo control. 1
Optimization Flow Control, I: Basic Algorithm and Convergence
 IEEE/ACM TRANSACTIONS ON NETWORKING
, 1999
"... We propose an optimization approach to flow control where the objective is to maximize the aggregate source utility over their transmission rates. We view network links and sources as processors of a distributed computation system to solve the dual problem using gradient projection algorithm. In thi ..."
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Cited by 690 (64 self)
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We propose an optimization approach to flow control where the objective is to maximize the aggregate source utility over their transmission rates. We view network links and sources as processors of a distributed computation system to solve the dual problem using gradient projection algorithm
Controlled and automatic human information processing
 I. Detection, search, and attention. Psychological Review
, 1977
"... A twoprocess theory of human information processing is proposed and applied to detection, search, and attention phenomena. Automatic processing is activation of a learned sequence of elements in longterm memory that is initiated by appropriate inputs and then proceeds automatically—without subjec ..."
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Cited by 841 (15 self)
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—without subject control, without stressing the capacity limitations of the system, and without necessarily demanding attention. Controlled processing is a temporary activation of a sequence of elements that can be set up quickly and easily but requires attention, is capacitylimited (usually serial in nature
Routing in a delay tolerant network
 Proceedings of ACM Sigcomm
, 2004
"... We formulate the delaytolerant networking routing problem, where messages are to be moved endtoend across a connectivity graph that is timevarying but whose dynamics may be known in advance. The problem has the added constraints of finite buffers at each node and the general property that no con ..."
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Cited by 612 (8 self)
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that no contemporaneous endtoend path may ever exist. This situation limits the applicability of traditional routing approaches that tend to treat outages as failures and seek to find an existing endtoend path. We propose a framework for evaluating routing algorithms in such environments. We then develop several
Bundle Adjustment  A Modern Synthesis
 VISION ALGORITHMS: THEORY AND PRACTICE, LNCS
, 2000
"... This paper is a survey of the theory and methods of photogrammetric bundle adjustment, aimed at potential implementors in the computer vision community. Bundle adjustment is the problem of refining a visual reconstruction to produce jointly optimal structure and viewing parameter estimates. Topics c ..."
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Cited by 555 (12 self)
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This paper is a survey of the theory and methods of photogrammetric bundle adjustment, aimed at potential implementors in the computer vision community. Bundle adjustment is the problem of refining a visual reconstruction to produce jointly optimal structure and viewing parameter estimates. Topics
Planning Algorithms
, 2004
"... This book presents a unified treatment of many different kinds of planning algorithms. The subject lies at the crossroads between robotics, control theory, artificial intelligence, algorithms, and computer graphics. The particular subjects covered include motion planning, discrete planning, planning ..."
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Cited by 1108 (51 self)
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This book presents a unified treatment of many different kinds of planning algorithms. The subject lies at the crossroads between robotics, control theory, artificial intelligence, algorithms, and computer graphics. The particular subjects covered include motion planning, discrete planning
Results 1  10
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