dc.contributor.author | Moe, Signe | |
dc.contributor.author | Pettersen, Kristin Ytterstad | |
dc.contributor.author | Gravdahl, Jan Tommy | |
dc.date.accessioned | 2021-01-29T09:43:51Z | |
dc.date.available | 2021-01-29T09:43:51Z | |
dc.date.created | 2020-11-30T14:46:20Z | |
dc.date.issued | 2020 | |
dc.identifier.issn | 0957-4158 | |
dc.identifier.uri | https://hdl.handle.net/11250/2725305 | |
dc.description.abstract | A robotic system can consist of a single or multiple agents with a fixed or mobile base, with full or under-actuation, and possibly redundancy. Collision avoidance is a crucial task for any robotic system and is necessary to ensure safe operation. In this paper, we use a set-based approach to ensure collision avoidance as a high-priority task of a robotic system while simultaneously defining one or more tasks for the system to achieve. The set-based approach is highly generic and flexible, and we present theoretical results, practical implementation and experimental results of the approach applied to a redundant, fully actuated robot manipulator, a full-scale underactuated surface vessel and a multi-agent system of unicycles. | en_US |
dc.language.iso | eng | en_US |
dc.publisher | Elsevier | en_US |
dc.rights | Navngivelse 4.0 Internasjonal | * |
dc.rights.uri | http://creativecommons.org/licenses/by/4.0/deed.no | * |
dc.title | Set-based collision avoidance applications to robotic systems | en_US |
dc.type | Peer reviewed | en_US |
dc.type | Journal article | en_US |
dc.description.version | publishedVersion | en_US |
dc.source.volume | 69 | en_US |
dc.source.journal | Mechatronics (Oxford) | en_US |
dc.identifier.doi | 10.1016/j.mechatronics.2020.102399 | |
dc.identifier.cristin | 1854267 | |
dc.relation.project | Norges forskningsråd: 237900 | en_US |
dc.relation.project | Norges forskningsråd: 223254 | en_US |
dc.description.localcode | © 2020 The Authors. Published by Elsevier Ltd. This is an open access article under the CC BY license. ( http://creativecommons.org/licenses/by/4.0/ ) | en_US |
cristin.ispublished | true | |
cristin.fulltext | original | |
cristin.qualitycode | 1 | |