Hamid Reza Chitsaz

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Characterizing optimal paths for mobile robots is an interesting, important, and challenging endeavor. Not only they are interesting with respect to the optimized criteria, but also they offer a family of motion primitives that can be used for motion planning in the presence of obstacles. This paper presents characterization of shortest paths for(More)
RoboCup-2001 was the Fifth International RoboCup Competition and Conference (figure 1). It was held for the first time in the United States, following RoboCup-2000 in Melbourne, Australia; RoboCup-99 in Stockholm; RoboCup-98 in Paris; and RoboCup-97 in Osaka. RoboCup is a research-oriented initiative that pioneered the field of multirobot research of robot(More)
Computing optimal paths for mobile robots is an interesting and important problem. This paper presents a method to compute the shortest path for a differential-drive mobile robot, which is a disc, among piecewise smooth and convex obstacles. To obtain a well-defined notion of shortest, the total amount of wheel rotation is optimized. We use recent(More)
A mobile robot should be able to analyze what it is seeing in real time rate and decide accordingly. Fast and reliable analysis of image data is one of the key points in soccer robot performance. In this paper we suggest a very fast method for object finding which uses the concept of perspective view. In our method, we introduce a set of jump points in(More)
We present an algorithm that computes the complete set of Pareto-optimal coordination strategies for two translating polygonal robots in the plane. A collision-free acyclic roadmap of piecewise-linear paths is given on which the two robots move. The robots have a maximum speed and are capable of instantly switching between any two arbitrary speeds. Each(More)
What is the shortest or fastest path a mobile robot can follow between two configurations in the unobstructed plane? The answer to this fundamental question is only known analytically for a few planar mobile robots: the Dubins and Reeds-Shepp steered cars, the differential drive, and a particular omnidirectional robot. This paper explores the optimal(More)
In this paper we describe some mechanical, hardware and software aspects of our robots specially used in teamwork. The pneumatic design of the gripers and kicker enables the robot to make a good control of ball when dribbling and also passing the ball in short and long distances. The teamwork software enables our robots to perform a cooperative behavior by(More)
ed for playing soccer in the medium-size league according to RoboCup rules and regulations. This robot consists of a moving mechanism, motioncontrol hardware, software, and a wireless communication system. The motion mechanism consists of a drive unit, a steer unit, and a castor wheel. Motion control is carried out by a special control board that uses two(More)