http://hdl.handle.net/10453/217 2013-05-23T18:51:46Z http://hdl.handle.net/10453/12915 Evaluating performance of multiple RRTs Wang Dalong; Kwok Ngai Ming; Clifton Matthew; Liu Dikai; Paul Gavin IEEE This paper presents experimental results evaluating the performance of a new multiple Rapidly exploring Random Tree (RRT) algorithm. RRTs are randomised planners especially adept at solving difficult, high dimensional path planning problems. However, environments with low-connectivity due to the presence of obstacles can severely affect convergence. Multiple RRTs have been proposed as a means of addressing this issue, however, this approach can adversely affect computational efficiency. This paper introduces a new and simple method which takes advantage of the benefits path of multiple trees, whilst ensuring the computational burden of maintaining them is minimised. Results indicate that multiple RRTs are able to reduce the logarithmic complexity of the search, most notably in environments with high obstacle densities. 2008-01-01T00:00:00Z http://hdl.handle.net/10453/12682 Bridge Maintenance Robotic Arm: Capacitive Sensor for Obstacle Ranging in Particle Laden Air Kirchner Nathan; Liu Dikai; Dissanayake Gamini N/A 2006-01-01T00:00:00Z http://hdl.handle.net/10453/12683 Elucidating the structure and function of S100 proteins in membranes - art. no. 603619 Huynh T; Valenzuela Stella; Berkahn Mark; Yang Z; Martin Donald; Geczy Carolyn Nicolau, DV 100 proteins are important Ca2+-binding proteins involved in vital cellular functions including the modulation of cell growth, migration and differentiation, regulation of intracellular signal transduction/phosphorylation pathways, energy metabolism, cyt 2006-01-01T00:00:00Z http://hdl.handle.net/10453/12678 Multi-realisation of nonlinear systems Su Steven; Anderson Brian; Chen Weidong; Nguyen Hung IEEE Technical Committee The system multi-realization problem is to find a state-variable realization for a set of systems, sharing as many parameters as possible. A multi-realization can be used to efficiently implement a multi-controller architecture for Multiple Model Adaptive Control (MMAC). We extend the linear multi-realization problem to nonlinear systems. The problem of minimal multi-realization of a set of MIMO systems is introduced and solved for feedback linearizable systems. 2009-01-01T00:00:00Z