649 research outputs found
Iterative Temporal Motion Planning for Hybrid Systems in Partially Unknown Environments
This paper considers the problem of motion planning for a
hybrid robotic system with complex and nonlinear dynamics
in a partially unknown environment given a temporal logic
specification. We employ a multi-layered synergistic framework
that can deal with general robot dynamics and combine
it with an iterative planning strategy. Our work allows us
to deal with the unknown environmental restrictions only
when they are discovered and without the need to repeat
the computation that is related to the temporal logic specification.
In addition, we define a metric for satisfaction of
a specification. We use this metric to plan a trajectory that
satisfies the specification as closely as possible in cases in
which the discovered constraint in the environment renders
the specification unsatisfiable. We demonstrate the efficacy
of our framework on a simulation of a hybrid second-order
car-like robot moving in an office environment with unknown
obstacles. The results show that our framework is successful
in generating a trajectory whose satisfaction measure of the
specification is optimal. They also show that, when new obstacles
are discovered, the reinitialization of our framework
is computationally inexpensive
Super-resolution far-field ghost imaging via compressive sampling
Much more image details can be resolved by improving the system's imaging
resolution and enhancing the resolution beyond the system's Rayleigh
diffraction limit is generally called super-resolution. By combining the sparse
prior property of images with the ghost imaging method, we demonstrated
experimentally that super-resolution imaging can be nonlocally achieved in the
far field even without looking at the object. Physical explanation of
super-resolution ghost imaging via compressive sampling and its potential
applications are also discussed.Comment: 4pages,4figure
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