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Search Results (8)
  • Open Access

    ARTICLE

    Obstacle Avoidance Capability for Multi-Target Path Planning in Different Styles of Search

    Mustafa Mohammed Alhassow1,*, Oguz Ata2, Dogu Cagdas Atilla1

    CMC-Computers, Materials & Continua, Vol.81, No.1, pp. 749-771, 2024, DOI:10.32604/cmc.2024.055592 - 15 October 2024

    Abstract This study investigates robot path planning for multiple agents, focusing on the critical requirement that agents can pursue concurrent pathways without collisions. Each agent is assigned a task within the environment to reach a designated destination. When the map or goal changes unexpectedly, particularly in dynamic and unknown environments, it can lead to potential failures or performance degradation in various ways. Additionally, priority inheritance plays a significant role in path planning and can impact performance. This study proposes a Conflict-Based Search (CBS) approach, introducing a unique hierarchical search mechanism for planning paths for multiple robots.… More >

  • Open Access

    ARTICLE

    RO-SLAM: A Robust SLAM for Unmanned Aerial Vehicles in a Dynamic Environment

    Jingtong Peng*

    Computer Systems Science and Engineering, Vol.47, No.2, pp. 2275-2291, 2023, DOI:10.32604/csse.2023.039272 - 28 July 2023

    Abstract When applied to Unmanned Aerial Vehicles (UAVs), existing Simultaneous Localization and Mapping (SLAM) algorithms are constrained by several factors, notably the interference of dynamic outdoor objects, the limited computing performance of UAVs, and the holes caused by dynamic objects removal in the map. We proposed a new SLAM system for UAVs in dynamic environments to solve these problems based on ORB-SLAM2. We have improved the Pyramid Scene Parsing Network (PSPNet) using Depthwise Separable Convolution to reduce the model parameters. We also incorporated an auxiliary loss function to supervise the hidden layer to enhance accuracy. Then… More >

  • Open Access

    ARTICLE

    Multi-Agent Dynamic Area Coverage Based on Reinforcement Learning with Connected Agents

    Fatih Aydemir1, Aydin Cetin2,*

    Computer Systems Science and Engineering, Vol.45, No.1, pp. 215-230, 2023, DOI:10.32604/csse.2023.031116 - 16 August 2022

    Abstract Dynamic area coverage with small unmanned aerial vehicle (UAV) systems is one of the major research topics due to limited payloads and the difficulty of decentralized decision-making process. Collaborative behavior of a group of UAVs in an unknown environment is another hard problem to be solved. In this paper, we propose a method for decentralized execution of multi-UAVs for dynamic area coverage problems. The proposed decentralized decision-making dynamic area coverage (DDMDAC) method utilizes reinforcement learning (RL) where each UAV is represented by an intelligent agent that learns policies to create collaborative behaviors in partially observable… More >

  • Open Access

    ARTICLE

    Strategy for Creating AR Applications in Static and Dynamic Environments Using SLAM- and Marker Detector-Based Tracking

    Chanho Park1,2, Hyunwoo Cho1, Sangheon Park1, Sung-Uk Jung1, Suwon Lee3,*

    CMES-Computer Modeling in Engineering & Sciences, Vol.131, No.1, pp. 529-549, 2022, DOI:10.32604/cmes.2022.019214 - 24 January 2022

    Abstract Recently, simultaneous localization and mapping (SLAM) has received considerable attention in augmented reality (AR) libraries and applications. Although the assumption of scene rigidity is common in most visual SLAMs, this assumption limits the possibilities of AR applications in various real-world environments. In this paper, we propose a new tracking system that integrates SLAM with a marker detection module for real-time AR applications in static and dynamic environments. Because the proposed system assumes that the marker is movable, SLAM performs tracking and mapping of the static scene except for the marker, and the marker detector estimates… More >

  • Open Access

    ARTICLE

    Path Planning of Quadrotors in a Dynamic Environment Using a Multicriteria Multi-Verse Optimizer

    Raja Jarray1, Mujahed Al-Dhaifallah2,*, Hegazy Rezk3,4, Soufiene Bouallègue1,5

    CMC-Computers, Materials & Continua, Vol.69, No.2, pp. 2159-2180, 2021, DOI:10.32604/cmc.2021.018752 - 21 July 2021

    Abstract Paths planning of Unmanned Aerial Vehicles (UAVs) in a dynamic environment is considered a challenging task in autonomous flight control design. In this work, an efficient method based on a Multi-Objective Multi-Verse Optimization (MOMVO) algorithm is proposed and successfully applied to solve the path planning problem of quadrotors with moving obstacles. Such a path planning task is formulated as a multicriteria optimization problem under operational constraints. The proposed MOMVO-based planning approach aims to lead the drone to traverse the shortest path from the starting point and the target without collision with moving obstacles. The vehicle… More >

  • Open Access

    ARTICLE

    QRDPSO: A New Optimization Method for Swarm Robot Searching and Obstacle Avoidance in Dynamic Environments

    Mehiar, D.A.F., Azizul, Z.H.*, Loo, C.K.

    Intelligent Automation & Soft Computing, Vol.26, No.3, pp. 447-454, 2020, DOI:10.32604/iasc.2020.013921

    Abstract In this paper we show how the quantum-based particle swarm optimization (QPSO) method is adopted to derive a new derivation for robotics application in search and rescue simulations. The new derivation, called the Quantum Robot Darwinian PSO (QRDPSO) is inspired from another PSO-based algorithm, the Robot Darwinian PSO (RDPSO). This paper includes comprehensive details on the QRDPSO formulation and parameters control which show how the swarm overcomes communication constraints to avoid obstacles and achieve optimal solution. The results show the QRDPSO is an upgrade over RDPSO in terms of convergence speed, trajectory control, obstacle avoidance More >

  • Open Access

    ARTICLE

    Non-Exchangeable Error Compensation for Strapdown Inertial Navigation System in High Dynamic Environment

    Qi Wang1, 2, *, Changsong Yang2, 3, Shao’en Wu4

    CMC-Computers, Materials & Continua, Vol.64, No.2, pp. 973-986, 2020, DOI:10.32604/cmc.2020.07575 - 10 June 2020

    Abstract Strapdown non-exchangeable error compensation technology in high dynamic environment is one of the key technologies of strapdown inertial navigation system. Mathematical platform is used in strapdown inertial navigation system instead of physical platform in traditional platform inertial navigation system, which improves reliability and reduces cost and volume of system. The maximum error source of attitude matrix solution is the non-exchangeable error of rotation due to the non-exchangeable of finite rotation of rigid bodies. The rotation non-exchangeable error reaches the maximum in coning motion, although it can be reduced by shortening the correction period and increasing More >

  • Open Access

    ABSTRACT

    Numerical Investigation of the Hemodynamic Environment Change in Patient-Specific Intracranial Aneurysm with Progressive Stenosis in Unilateral Internal Carotid Artery

    Guangyu Zhu1, Yuan Wei1, Qi Yuan1,*, Ge Yan2, Jian Yang2

    Molecular & Cellular Biomechanics, Vol.16, Suppl.1, pp. 55-56, 2019, DOI:10.32604/mcb.2019.05730

    Abstract This article has no abstract. More >

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