Bakir Lacevic

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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 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)
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 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)
In this paper we proposed a new stable control algorithm for mobile robot trajectory tracking. The stability conditions are guaranteed by Lyapunov theory. The control parameters of backstepping algorithm are adjusted using genetic algorithm. Some of them are represented by unknown functions which are generated by neural network. The performance of the(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)
In this paper, a planning algorithm for computing collision-free paths for robotic manipulators is described. The algorithm is based on incremental growth of tree-like structures that are formed by so-called bubbles, which represent volumes of free configuration space easily computed using the distance information in the workspace. The growth of the trees(More)