Douglas Guimarães Macharet

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In this paper we deal with the problem of path length optimization for nonholonomic robots modeled as Dubins' vehicles. We present an improved solution that computes paths through two-dimensional waypoints, that are shorter than those produced by one of the most used techniques in the literature. We initially present an optimization cost function that(More)
Interest in telepresence robots is at an all time high, and several companies are already commercializing early or basic versions. There seems to be a huge potential for their use in professional applications, where they can help address some of the challenges companies have found in integrating a geographically distributed work force. However,(More)
In this paper, we introduce the k-Dubins Traveling Salesman Problem with Neighborhoods (k-DTSPN), the problem of planning efficient paths among target regions for multiple robots with bounded curvature constraints (Dubins vehicles). This paper presents two approaches for the problem. Firstly, we present a heuristic that solves it in two steps, based on(More)
This study presents a novel methodology for generating smooth feasible paths for autonomous aerial vehicles in the three-dimensional space based on a variation of the Spatial Quintic Pythagorean Hodographs curves. Generated paths must satisfy three main constraints: (i) maximum curvature, (ii) maximum torsion and (iii) maximum climb (or dive) angle. A given(More)
This paper presents a methodology based on a variation of the Rapidly-exploring Random Trees (RRTs) that generates feasible trajectories for autonomous vehicles with holonomic constraints in environments with obstacles. Our approach is based on seventh order Bézier curves to connect vertexes of the tree, generating paths that do not violate the main(More)
This paper presents a methodology based on a variation of the Rapidly-exploring Random Trees (RRTs) that generates feasible trajectories for autonomous aerial vehicles with holonomic constraints in environments with obstacles. Our approach uses Pythagorean Hodograph (PH) curves to connect vertices of the tree, which makes it possible to generate paths for(More)