72 citations · 335 across the 16 of their papers we have counts for
10 papers · 1 filter
A Delay-Tolerant Potential-Field-Based Network Implementation of an Integrated Navigation System
Rachana Ashok Gupta, Ahmad A. Masoud, Mo-Yuen Chow
Network controllers (NCs) are devices that are capable of converting dynamic, spatially extended, and functionally specialized modules into a taskable goal-oriented group called ne…
A Harmonic Potential Field Approach for Joint Planning & Control of a Rigid, Separable Nonholonomic, Mobile Robot
Ahmad A. Masoud
The main objective of this paper is to provide a tool for performing path planning at the servo level of a mobile robot. The ability to perform, in a provably correct manner, such…
Planning With Discrete Harmonic Potential Fields
Ahmad A. Masoud
In this work a discrete counterpart to the continuous harmonic potential field approach is suggested. The extension to the discrete case makes use of the strong relation HPF-based…
Managing The Dynamics Of A Harmonic Potential Field-Guided Robot In A Cluttered Environment
Ahmad A. Masoud
This paper demonstrates the ability of the harmonic potential field, HPF, planning method to generate a well-behaved constrained path for a robot with second order dynamics in a cl…
A Hybrid, PDE-ODE Control Strategy for Intercepting an Intelligent, well-informed Target in a Stationary, Cluttered Environment
Ahmad A. Masoud
In [1,2] a new class of intelligent controllers that can semantically embed an agent in a spatial context constraining its behavior in a goal-oriented manner was suggested. A contr…
Decentralized, Self-organizing, Potential field-based Control for Individuallymotivated, Mobile Agents in a Cluttered Environment: A Vector-Harmonic Potential Field Approach
Ahmad A. Masoud
Spatial multi-agency has been receiving growing attention from researchers exploring many of the aspects and modalities of this phenomenon. The aim is to develop the theoretical ba…
Nearest Neighbor-based Rendezvous for Sparsely Connected Mobile Agents
Ahmad A. Masoud
In this paper a convergent, nearest-neighbor, control protocol is suggested for agents with nontrivial dynamics. The protocol guarantees convergence to a common point in space even…
Motion Planning With Gamma-Harmonic Potential Fields
Ahmad A. Masoud
This paper extends the capabilities of the harmonic potential field (HPF) approach to planning. The extension covers the situation where the workspace of a robot cannot be segmente…
A Harmonic Potential Approach For Simultaneous Planning And Control Of A Generic UAV Platform
Ahmad A. Masoud
Simultaneous planning and control of a large variety of unmanned aerial vehicles (UAVs) is tackled using the harmonic potential field (HPF) approach. A dense reference velocity fie…
Kinodynamic Motion Planning: A Novel Type Of Nonlinear, Passive Damping Forces And Advantages
Ahmad A. Masoud
This article extends the capabilities of the harmonic potential field approach to planning to cover both the kinematic and dynamic aspects of a robot motion. The suggested approach…