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Projects - It works


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.
  – 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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