Please use this identifier to cite or link to this item: http://hdl.handle.net/1822/4322

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dc.contributor.authorSantos, Cristina-
dc.date.accessioned2006-02-03T12:05:54Z-
dc.date.available2006-02-03T12:05:54Z-
dc.date.issued2004-04-26-
dc.identifier.citationICRA. IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, New Orleans, 2004 - Piscataway : IEEE, 2004. ISBN 0-7803-8232-3.eng
dc.identifier.isbn0780382323por
dc.identifier.issn1050-4729por
dc.identifier.urihttp://hdl.handle.net/1822/4322-
dc.description.abstractThe timing of movements and of action sequences is important when particular events must be achieved in timevarying environments, avoiding moving obstacles or coordinating multiple robots. However, timing is dificult when it must be compatible with continuous on-line coupling to lowlevel and often noisy sensory information which is used to initiate and steer action. We extended the Dynamic Approach to Behavior Generation to account for timing constraints. We proposed a solution that uses a dynamical system architecture to autonomously generate timed trajectories and sequences of movements as attractor solutions of dynamic systems. The model consists on a two layer architecture, in which a competitive "neural" dynamics layer controls the qualitative dynamics of a second, "timing" layer. The second layer generates both stable oscillations and stationary states, such that periodic attractors generate timed movement. The frst layer controls the switching between the limit cycle and the fxed points, allowing for discrete movements and movement sequences. This model was integrated with another dynamical system without timing constraints. The complete dynamical architecture was demonstrated on a visionguided mobile robot in real time, whose goal is to reach a target in approximately constant time within a non-structured environment. The obtained results illustrated the stability and flexibility properties of the timing architecture as well as the robustness of the proposed decision-making mechanism.eng
dc.description.sponsorshipFundação para a Ciência e a Tecnologia (FCT)por
dc.language.isoengeng
dc.publisherIEEEeng
dc.rightsopenAccesseng
dc.subjectNon-linear dynamical systems approacheng
dc.subjectRoboticseng
dc.titleGenerating timed trajectories for an autonomous vehicle: a non-linear dynamical systems approacheng
dc.typeconferencePapereng
dc.peerreviewedyeseng
oaire.citationStartPage3741por
oaire.citationEndPage3746por
oaire.citationIssue4por
oaire.citationVolume2004por
dc.subject.wosScience & Technologypor
sdum.journalIEEE International Conference on Robotics and Automation (ICRA)por
sdum.conferencePublication2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGSpor
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