Hybrid and Safe Control Architecture for Mobile Robot Navigation

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We are currently working on a cost function which allows us to minimize the dangerousness of the generated path. d is the closest distance between the human and the dangerous object

Once the lines have been processed from the data set, a control algorithm filters those lines and, using a fuzzy controller, generates the wheel speed commands to move the robot

Figure 7: Two different scenarios for steep models (models that are not parallel to the robot direction) returned by RUBY and the filters: the small squares correspond to the

It consists of (1) an information segmentation process, which identies and separates dierent types of information; (2) followed by structural analysis where the information

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This preliminary design algorithm outputs a 2-dimensional design space (Fig.3), where solutions are plotted according to their geometry ratio, which characterizes the size of the