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With a model predictive control approach including boundary analysis and uncertain prediction of activities of different road participants, this paper proposes solutions that support motion control by steering control and appropriate acceleration to create safe motion trajectories for an autonomous vehicle. The motion control support element is determined by the principle of minimal intervention and…

With a model predictive control approach and to set the motion trajectory for an autonomous vehicle in situations where emergency braking cannot be performed, in this paper, we propose a solution to apply the law on road traffic into a set of constraints and thereby build an objective function to create motion trajectory for autonomous…

In this paper, we present an experimental approach that allows a humanoid robot to effectively plan and execute whole body motions, like climbing obstacles and straight stairs up or down, besides jumping over obstacles using only on-board sensing. Re- liable and accurate motion sequence for humanoid employed in complex indoor en- vironments is a necessity…

This paper addresses the motion planning problem of Reeds-Shepp-type car-like mobile robots moving among static and dynamic obstacles. If the positions and the velocity vectors of the obstacles are known or well estimated, the Velocity Obstacles (VO) method and its non-linear version (NLVO) can be used to plan a collision-free trajectory for a robot in…