Khawaja Fahad Iqbal

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Recently proposed Rapidly Exploring Random Tree Star (RRT*) algorithm which is an extension of Rapidly Exploring Random Tree (RRT) provides collision free asymptotically optimal path regardless of obstacle's geometry in a given environment. However, the drawback of this technique is a slow processing rate. This paper presents our proposed Potential Guided(More)
The Rapidly Exploring Random Tree Star (RRT*) is an extension of the Rapidly Exploring Random Tree path finding algorithm. RRT* guarantees an optimal, collision free path solution but is limited by slow convergence rates and inefficient memory utilization. This paper presents APGD-RRT*, a variant of RRT* which utilizes Artificial Potential Fields to improve(More)
Human-robot interaction is one of the most basic requirements for service robots. In order to provide the desired service, these robots are required to detect and track human beings in the environment. This paper presents a novel approach for classifying a target person in a crowded environment. The system used the approaches for human detection and(More)
Detection and Tracking of human being is a very important problem in Computer Vision. Human robot interaction is a very essential need for service robots where robots are required to detect and track human beings in order to provide the required service. In this paper we present an improved novel approach for tracking a target person in crowded environment.(More)
One of the main problems associated with mobile intelligent agents is path planning. Numerous approaches have been presented for path planning of mobile robots. One of the most efficient methods is Pulse Coupled Neural Network (PCNN). This paper presents a novel approach we call the Sparsed Potential PCNN method for real time path planning for mobile(More)
In this paper we presented a planning approach for collision avoidance algorithms in swarms of robots. We used intermediate goal vector formation to avoid congestion of large number of robots trying to maximize their performance measure. We use the RVO2 library which uses the Reciprocal Velocity Obstacles approach for collision avoidance in intelligent(More)
Avoiding collision is one of the major research fields in mobile robotics. Various researchers around the globe are working on static and dynamic collision avoidance algorithms. One such algorithm is the Optimal Reciprocal Collision Avoidance that deals with multiple robots moving in a joint space without causing collision, that also without communicating(More)
Collision free navigation in dynamic environments, where motion of moving obstacles is unknown, still presents a significant challenge. Sampling based algorithms are well known for their simplicity and are widely used in many real time motion planning problems. While many sampling based algorithms for dynamic environments exist, assumptions taken by these(More)
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