Alexandre R. Fonseca

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This paper presents a methodology for motion planning in outdoor environments that takes into account specific characteristics of the terrain. Instead of decomposing the robot configuration space into " free " and " occupied " , we consider the existence of several regions with different navigation costs. Costs are determined experimentally by navigating(More)
This paper addresses the problem of efficiently computing robot navigation functions. Navigation functions are potential functions free of spurious local minima that present an exact solution to the robot motion planning and control problem. Although some methodologies were found in the literature, none of them are easy to implement and generalize for(More)
This paper addresses the problem of mobile robot navigation using artificial potential fields. Many potential field based methodologies are found in the robotics literature, but most of them have problems with spurious local minima, which cause the robot to stop before reaching its target position. Although some free of local minima methodologies are found(More)
A particular meshless method, named meshless local Petrov – Galerkin is investigated. To treat the essential boundary condition problem, an alternative approach is proposed. The basic idea is to merge the best features of two different methods of shape function generation: the moving least squares (MLS) and the radial basis functions with polynomial terms(More)
This paper addresses the mobile robot motion planning problem in outdoor environments, which are large, sparsely occupied workspaces with uneven terrains. We present results in path planning using an efficient discretization method based on Constrained Delaunay Triangulation (CDT) and classical graph searching algorithms. CDT has been proven to be a good(More)
This paper deals with the navigation of a mobile robot in an unknown environment by using artificial potential field (APF) method. The aim is to develop a method for path planning of mobile robot from start point to the goal point while avoiding obstacles on robot's path. Artificial potential field method will be modified and optimized by using(More)
This paper presents a methodology for motion planning in outdoor environments that takes into account specific characteristics of the terrain. Instead of decomposing the robot configuration space into " free " and " occupied " , we consider the existence of several regions with different navigation costs. In this paper, costs are determined experimentally(More)
101S Abstract— Mesh free parallel implementations using multi-core processors are discussed. Particularly, parallelization of the MLPG and SPEM are shown. The appropriate strategies to correctly parallelize the mesh free methods are discussed. Parallel versions run up to 1.96 times faster on dual-core processor and 3.78 on quad-core processor when compared(More)
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