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This paper describes how soft computing methodologies such as fuzzy logic, genetic algorithms and the Dempster–Shafer theory of evidence can be applied in a mobile robot navigation system. The navigation system that is considered has three navigation subsystems. The lower-level subsystem deals with the control of linear and angular volocities using a(More)
This paper presents a novel method for evaluating the danger within the environment of a robot manipulator. It is based on the introduced concept of kinetostatic danger field, a quantity that captures the complete state of the robot - its configuration and velocity. The field itself is invariant with respect to objects around the robot and can be computed(More)
This paper presents a new control law for robotic manipulators in unstructured environments which guarantees the achievement of the goal position without incurring in local minima. The passivity of the closed-loop system renders this control scheme well-suited for human-robot coexistence, especially when the robot is supposed to share its workspace with(More)
This paper presents a synergistic approach to danger assessment and safety-oriented control of articulated robots that are based on a quantity called danger field. This quantity captures the state of the robot as a whole and indicates how dangerous the current posture and velocity of the robot are to the objects in the environment. The field itself is(More)
We propose a novel method of path planning for robotic manipulators that is based on the tree expansion via bubbles of free configuration space. The algorithm is designed to yield collision-free paths that also tend to minimize a certain danger criterion. This is achieved by embedding a suitably tailored heuristics within the algorithm. For that purpose we(More)
A novel method to obtain safe paths for robotic manipulators is presented. It emulates the probabilistic roadmap planner by trying to establish a collision-free path that connects the start and the goal configuration via samples that belong to a quasi-random, low discrepancy sequence. The path construction is guided by a search algorithm with a heuristic(More)