New Developments in Robotics, Automation and Control 2009 Part 2 doc

... ∂∂ ⎣ ⎦ L L MMOM L 22 2 11 12 1 22 2 2 21 22 2 22 2 12 T L L LL LL JJ J JJ J J JJ J ww w ww ww ww ww w w ww ww ww ww w ww ww ww . (29 ) The vector ( ) ( ) =∇nJgw is the gradient evaluated at ( ) nw , and ... ⎦ = ⎨ ⎪ ⎡⎤ + −> ⎣⎦ ⎩ T l T l l l uv g guv (40) 2 2 1 l l l β − = g g , (41) w l+1 = w l + μ u l , ( 42) 1 λ + = + llll KKV . (43) New Developments...

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... the controller Alternative )2( 1 p )2( 2 p )2( 3 p )2( 4 p )2( 5 p 1 0.1 528 1 0.34 126 0.38 626 0.14674 -0. 027 08 2 0.19687 0.43966 0.31961 0.05 828 -0.014 42 3 0 .22 775 0.50861 0 .27 290 -0.00370 ... reduction of the control signal magnitude. Alternative )2( 0 q )2( 1 q )2( 2 q )2( 3 q )2( 4 q )2( 5 q 1 2. 34196 0 0 -3.173 82 2.1 921...

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... in a complementary manner. New Developments in Robotics, Automation and Control 164 scheme f RF_I max max max 2 2 max max max 2 12 2 4 4 2 _ max max 2 33 max 5 2 2 24 4 4 4 4 4 2 2 2 2 00 ... () () ( ) ϕ − = − 1 2 2 2 2 21 zt b b t b z () () ( ) ϕ −+ = − 2 1 2 2 2 1 2 b t b t z b z (43) Substituting the maximum and minimum values...

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... % 1 22 ,971 5.3% 405 4.0% 0 0.0% 23 ,376 5 .2% 2 80,839 18.6% 3,854 38.1% 1,689 32. 5% 86,3 82 19 .2% 3 90,434 20 .8% 2, 276 22 .5% 1,405 27 .1% 94,115 21 .0% 4 186,869 43.1% 2, 946 29 .2% 1,697 32. 7% ... - 100000 66,090 15 .2% 6 ,21 7 61.5% 3,176 61 .2% 75,483 16.8% 100,001 -20 0,000 117 ,22 7 27 .0% 2, 179 21 .6% 1,186 22 .9% 120 ,5 92 26.9% 20 0,001- 300,000 135,965...

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... C=#77%9 9*,8=*/ #A1,8 %, 801 9%8< New Developments in Robotics, Automation and Control 27 4 2. RRT Sampling Based-planning 2. 1 Principle In its original formulation (LaValle, 1998), RRT ... neurons. New Developments in Robotics, Automation and Control 28 2 • the generation of a random configuration q rand in C • the selection of q prox t...

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... SC205 20 6 20 4 5 52 - 52. 2 020 6 121 0.0000% 25 7 7 02. 2 2. 9 ADLITTLE 57 98 465 22 5494.9384 0.0000% 146 38.1 1.73 BLEND 75 84 521 -30. 822 13945 0.0 324 % 118 41 .2 0.63 BRANDY 22 1 25 0 21 50 557.6518 123 ... [rand(1)-0.5;rand(1)-0.5;rand(1)-0.5;rand(1)-0.5;rand(1)-0.5; rand(1)-0.5;rand(1)-0.5;rand(1)-0.5;rand(1)-0.5;rand(1)-0.5; rand(1)-0.5;rand(1)-0.5;rand(1)-0.5;rand(...

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... with the separateness of c (29 , 24 ) from c (20 , 28 ). Considering that node 28 is shared by c (20 , 28 ) and c (28 , 29 , 30) only (since c (28 , 30) is contained in c (28 , 29 , 30), it is ignored here), ... v 1 and v 2 , in 1 such that all the paths between the two nodes are intersected by C in 1 , with v 1 appearing in one of the neighboring cliques and v...

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... New Developments in Robotics, Automation and Control 4 12 The remaining part of the chapter is organized as follows. The next section introduces our new time-scaling concept in details and ... 2 22 1 22 2 50 22 22 3 () (,) 2 21 11 ( ) ln 4 121 φ ξω ω ωωω ξω φ ωω ξωωωξω = = = ∑ ++ ⎧ ⎫ ⎧⎫ +−+ ⎪ ⎪⎪⎪ + ∑ ⎨ ⎨⎬⎬ −−−+ ⎪ ⎪⎪⎪ ⎩⎭ ⎩⎭ ii C i ii i cci ii ii i ci...

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... p1 p2 t1 t2 p4 p3 2 2 12 (a) p4 2 2 p3 p2 [2] t2 [1] p1 [2] t1 [2] p1[1] t1 [1] t2 [1] p2 [1] 4 4 2 2 2 1 1 2 2 2 (b) µ 0 µ 1 µ 2 µ 3 t1 [1] t2 [1] t2 [2] t2 [1] t1 [2] t1 [1] t2 [2] t1 [2] ... M 2 t1 [1] t2 [1] t2 [2] t2 [1] t1 [2] t1 [1] t2 [2] t1 [2] 3 0 6 3 1 2 2 1 0 3 0 0 2 1 2 4 M 0 M 1 M 2 M 3 Unfolding of the...

Ngày tải lên: 12/08/2014, 03:20