Time constrainted trajectories for Autonomous Robots

This work was developed in the Jorge Silva's thesis along the 2009-2010 year while part of the ASBGroup at the Industrial Electronics Department of University of Minho. It was proposed in the scope of the 5th year of the course on Industrial Electronic Engineering and Computers.
The basis of this work is to generate movement for a wheeled mobile robot based on biological features. The movement of the robot must obey to time constraints as a primordial condition to satisfy. This is achieved using nonlinear dynamical systems, whose advantages are useful to generate trajectories for robots.

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Related publications: 
Silva, J., V. Matos, and C. P. Santos, "Generating Trajectories With Temporal Constraints for an Autonomous Robot", 8th IEEE International Workshop on Safety, Security & Rescue Robotics (SSRR - 2010), Bremen, 2010.
Silva, J., V. Matos, and C. P. Santos, "Timed trajectory generation for a toy-like wheeled robot", IECON 2010 - 36th Annual Conference on IEEE Industrial Electronics Society, pp. 1645 -1650, nov., 2010.
Silva, J., C. P. Santos, and J. Sequeira, "Timed Trajectory Generation Combined with an Extended Kalman Filter for a Vision-Based Autonomous Mobile Robot", Proceedings of the 12th International Conference on Intelligent Autonomous Systems (IAS 2012), Jeju Island, Korea, Springer, 06/2012.
Sequeira, J., C. P. Santos, and J. Silva, "Dynamical Systems in Robot Control Architectures: A Building Block Perspective", Proceedings of the 12th International Conference on Control, Automation, Robotics and Vision (ICARCV 2012), Guangzhou, China, 12/2012.  Download: dynamical_systems_in_robot_control_architectures_proceedings.pdf (277.72 KB)
Silva, J., C. P. Santos, and J. Sequeira, "Timed Trajectory Generation for a Vision-based Autonomous Mobile Robot in Cluttered Environments", 9th International Conference on Informatics in Control, Automation and Robotics (ICINCO), Rome, Italy, 08/2012.  Download: icinco_2012_volume_2_proceedings.pdf (296.72 KB)
Silva, J., C. Santos, and J. Sequeira, "Developing a Timed Navigation Architecture for Hospital Delivery Robots", IEEE 3rd Portuguese BioEngeneering Meeting, Braga, Portugal, 2013.  Download: bioeng2013_proceedings.pdf (722.72 KB)