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Projects 1. Path planning – Input: 2D map, initial location, destination Output: waypoints (or false if there is no path). – Input: 2D map, initial location, number of destination points with priority Output: Path that visit all of the destination points in optimized order. – Extending the algorithm to big maps, using algorithms such A*,D* – Find the optimal map presentation (optimal grid size) – depending the map (dense obstacles or not). 2. Fuzzy logic – Build behavior that execute fuzzy controller (use open source library) for a specific robot (e.g. RV400). – Detect obstacle – stop and report. – Robust controller for different type of robots – Implementing Edi Smukler’s work – any time algorithm for ordering the controller roules. – Recognition impasses (number of choices). – Given waypoints – execute the controller on this set of waypoints. 3. Fence patrol – Multi robot fence patrol include overlap – Removing robot – other allocate the task again – Using fuzzy controller to maintain distance (from fence) and speed. – Different speed in different segments – Attending events – each event includes deadline and time to execute. 4. Fence patrol – The same as previous but the algorithm that consider intruders. 5. Circular Fence Patrol – The same as previous 6. Path planning – Multi robots – Input: 2D map, initial location, destination Output: waypoints (or false if there is no path). – Path corrections without conflicts between the robots paths. – Dynamic missions -- allocating to robots missions, each mission has start point and end point. 7. Navigation – Input: robot location, destination point Output: robot arrive to the destination point (e.g. avoid obstacle from right if there is a circle – backtrack and take left). – Ariel Felner’s article implementation. – Implementation of one of the well known navigation articles .
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