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201
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I
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N
:
2
0
8
8
-
8708
I
J
E
C
E
Vo
l.
6
,
No
.
6
,
Decem
b
er
201
6
:
28
6
3
–
2
8
6
9
2864
I
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n
g
h
ar
e
[
7
]
h
av
e
d
ev
elo
p
ed
a
t
r
ash
d
etec
tio
n
al
g
o
r
ith
m
b
y
u
s
i
n
g
t
w
o
u
ltra
s
o
n
ic
s
en
s
o
r
s
e
m
b
ed
d
ed
o
n
th
e
r
o
b
o
t.
B
y
u
s
in
g
s
er
v
o
m
o
to
r
s
,
t
h
e
r
o
b
o
t
ca
n
d
etec
t ta
s
h
in
a
d
is
ta
n
ce
r
an
g
e
o
f
2
.
5
m
eter
s
w
it
h
9
0
d
eg
r
ee
an
g
le.
On
e
o
f
th
e
alg
o
r
it
h
m
s
u
s
ed
b
y
r
o
b
o
ts
to
p
u
r
s
u
e
tr
ash
w
h
ich
h
as
b
ee
n
in
v
es
tig
ated
b
y
s
ev
er
a
l
r
esear
ch
er
s
i
s
ce
ll
d
ec
o
m
p
o
s
i
tio
n
al
g
o
r
ith
m
i
m
p
le
m
e
n
ted
b
y
th
e
d
iag
r
a
m
Fo
d
er
ar
o
et
al.
[
8
]
f
o
r
p
ac
-
m
a
n
g
a
m
e.
T
h
e
alg
o
r
ith
m
u
s
ed
to
s
p
lit
th
e
m
ap
in
t
h
e
g
a
m
e
P
ac
-
Ma
n
i
n
to
th
e
g
r
id
.
T
h
e
p
u
r
s
u
it
al
g
o
r
ith
m
w
as
ap
p
lied
to
th
e
g
h
o
s
t to
ch
a
s
e
p
ac
-
m
an
.
C
ell
d
ec
o
m
p
o
s
itio
n
al
g
o
r
it
h
m
w
as
f
ir
s
t
in
v
es
tig
a
ted
b
y
Z
h
u
&
L
a
to
m
b
e
[
9
]
u
s
ed
f
o
r
n
e
w
h
eu
r
i
s
ti
c
p
ath
p
lan
n
in
g
al
g
o
r
ith
m
.
C
ell
d
ec
o
m
p
o
s
itio
n
al
g
o
r
ith
m
d
iv
id
es
th
e
m
ap
in
to
s
i
m
ilar
s
ize
g
r
id
s
.
T
h
e
m
ap
i
s
co
n
f
i
g
u
r
ed
u
s
i
n
g
c
-
o
b
s
tacle
a
lg
o
r
ith
m
to
cr
ea
te
t
h
r
ee
-
d
i
m
e
n
s
io
n
al
o
b
s
tacle
s
b
ef
o
r
e
it
i
s
d
ev
id
ed
in
to
g
r
id
s
.
On
ce
a
m
ap
is
cr
ea
ted
,
Sear
ch
o
f
a
C
o
n
n
ec
ti
v
it
y
Gr
ap
h
i
s
u
s
ed
to
co
n
n
ec
t
t
h
e
m
ap
p
at
h
s
t
h
at
h
a
v
e
b
ee
n
cr
ea
ted
w
i
th
ce
ll
d
ec
o
m
p
o
s
iti
o
n
f
r
o
m
th
e
s
tar
ti
n
g
p
o
in
t
to
th
e
d
esti
n
at
io
n
p
o
in
t.
T
h
is
alg
o
r
ith
m
m
er
el
y
s
ee
k
s
an
d
f
i
n
d
s
t
h
e
p
ath
,
b
u
t d
o
es n
o
t f
i
n
d
th
e
s
h
o
r
test
p
ath
.
T
h
e
o
th
er
r
esear
ch
er
s
s
u
c
h
as
J
an
ch
i
v
et
al
[
1
0
]
h
a
s
ex
a
m
i
n
ed
ce
ll
d
ec
o
m
p
o
s
i
tio
n
al
g
o
r
ith
m
u
s
ed
to
d
iv
id
e
th
e
m
ap
in
to
s
e
v
er
al
ce
lls
as
co
v
er
ag
e
s
ea
r
ch
ar
ea
s
.
I
n
ad
d
itio
n
,
co
v
er
ag
e
alg
o
r
ith
m
w
as
u
s
ed
to
s
ea
r
ch
in
ar
ea
s
t
h
at
h
av
e
b
ee
n
m
ap
p
e
d
.
B
y
co
m
b
i
n
i
n
g
t
h
e
t
w
o
al
g
o
r
ith
m
s
,
r
o
b
o
ts
ca
n
av
o
id
o
b
s
ta
cles
an
d
co
n
d
u
ct
a
s
ea
r
ch
in
t
h
e
ar
ea
.
P
ath
p
lan
n
i
n
g
al
g
o
r
ith
m
s
s
u
c
h
a
s
A*
al
g
o
r
ith
m
co
m
b
i
n
ed
w
it
h
a
ce
ll
d
ec
o
m
p
o
s
itio
n
al
g
o
r
ith
m
th
a
t
is
u
s
ed
b
y
Nasc
i
m
e
n
to
et
al
[
1
1
]
f
o
r
m
u
lt
ip
le
m
o
b
ile
r
o
b
o
ts
.
C
ell
d
ec
o
m
p
o
s
itio
n
al
g
o
r
ith
m
is
u
s
ed
to
cr
ea
t
e
a
m
ap
o
f
th
e
n
ei
g
h
b
o
r
h
o
o
d
an
d
th
e
A*
a
lg
o
r
it
h
m
u
s
ed
to
tr
ac
k
p
ath
s
o
th
at
th
e
r
o
b
o
t
ca
n
av
o
id
o
b
s
tacle
s
an
d
m
o
v
e
to
w
ar
d
s
t
h
e
g
o
al.
I
n
ad
d
itio
n
,
Qu
r
es
h
i
a
n
d
Ay
az
[
1
2
]
h
av
e
o
p
ti
m
ized
ce
ll
d
ec
o
m
p
o
s
itio
n
al
g
o
r
ith
m
b
y
co
m
b
i
n
i
n
g
it
w
it
h
p
o
ten
tial
f
i
eld
alg
o
r
it
h
m
.
T
h
e
ce
ll
d
ec
o
m
p
o
s
itio
n
a
lg
o
r
it
h
m
w
as
u
s
e
d
to
cr
ea
te
a
m
ap
b
y
d
iv
id
in
g
th
e
e
n
v
ir
o
n
m
en
t in
to
s
i
m
ilar
s
ize
g
r
id
s
a
n
d
th
e
p
o
te
n
tial
f
ield
alg
o
r
it
h
m
w
as
u
s
ed
f
o
r
p
ath
p
lan
n
in
g
.
T
h
is
p
ap
er
p
r
esen
ts
ce
ll
d
ec
o
m
p
o
s
itio
n
al
g
o
r
ith
m
co
m
b
i
n
e
d
w
it
h
f
u
zz
y
lo
g
ic
al
g
o
r
ith
m
ap
p
lied
to
r
o
b
o
t
tr
ash
ca
n
.
W
ith
th
ese
al
g
o
r
ith
m
s
,
r
o
b
o
t
tr
ash
ca
n
is
ab
le
to
ca
tch
an
d
p
ick
th
e
tr
ash
ca
r
eless
l
y
d
is
ca
r
d
ed
.
A
d
d
itio
n
al
l
y
r
o
b
o
t
is
al
s
o
ab
le
to
av
o
id
o
b
s
tacle
s
i
n
t
h
e
e
n
v
i
r
o
n
m
e
n
t
i
f
t
h
er
e
ar
e
an
y
i
n
t
h
e
f
o
r
m
o
f
a
tab
le
o
r
ch
air
.
2.
P
URS
UI
T
AL
G
O
R
I
T
H
M
P
u
r
s
u
it
a
lg
o
r
it
h
m
is
an
a
lg
o
r
it
h
m
t
h
at
s
ea
r
c
h
ed
an
d
ca
lc
u
lat
ed
th
e
c
u
r
v
at
u
r
e
p
ath
w
it
h
u
s
e
d
m
is
s
ile
s
to
b
e
a
b
le
to
p
u
r
s
u
t
t
h
e
tar
g
et
f
r
o
m
th
e
i
n
itial
p
o
s
itio
n
to
war
d
th
e
en
d
p
o
s
itio
n
[
1
3
]
.
P
ar
a
m
eter
s
is
u
s
ed
b
y
lo
o
k
ah
ea
d
d
is
ta
n
ce
w
ill
a
l
w
a
y
s
g
et
th
e
ap
p
r
o
p
r
iate
p
ath
an
d
k
ee
p
th
e
p
at
h
to
t
h
e
f
in
al
p
o
s
it
io
n
o
f
t
h
e
air
cr
af
t
.
B
esid
es
ap
p
lied
to
m
i
s
s
ile
co
n
tr
o
l,
th
e
alg
o
r
it
h
m
is
ap
p
lied
to
th
e
m
o
b
ile
r
o
b
o
t
is
d
o
n
e
b
y
Dias
et
al
[
1
4
]
.
B
esid
es
ap
p
l
y
i
n
t
h
e
air
cr
af
t,
th
e
al
g
o
r
ith
m
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s
e
x
a
m
in
ed
b
y
Ma
s
s
io
n
i
et
al.
,
[
1
5
]
u
s
ed
i
n
p
u
r
s
u
i
n
g
a
g
en
t
f
o
r
f
o
r
m
atio
n
.
Fig
u
r
e
1
.
Glo
b
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v
ie
w
Sen
s
o
r
f
o
r
p
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r
s
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t a
lg
o
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s
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ated
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Fig
u
r
e
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[
1
6
]
.
I
t
s
h
o
w
s
t
h
at
to
p
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s
u
e
th
e
tar
g
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ata
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o
f
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e
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g
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th
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f
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e
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o
b
o
t.
3.
M
AP
P
I
NG
Gr
ap
h
th
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r
y
h
av
e
b
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n
u
s
ed
b
y
s
o
m
e
r
esear
ch
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s
to
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a
m
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u
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k
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a
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co
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s
w
a
n
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al.
,
[
1
6
]
u
s
in
g
ce
ll
d
ec
o
m
p
o
s
itio
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m
et
h
o
d
s
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in
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A
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et
h
o
d
u
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Kate
v
a
s
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al.
,
[
1
7
]
t
o
d
iv
id
e
an
en
v
ir
o
n
m
e
n
t
i
n
to
s
a
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f
o
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lar
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e
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p
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la
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.
A
p
at
h
h
as
b
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s
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t
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w
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lc
h
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ca
n
m
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v
e
to
d
esti
n
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p
o
s
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n
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d
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b
s
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s
.
I
n
th
i
s
p
ap
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,
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ll
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o
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s
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ap
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en
t
s
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it
h
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l
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w
m
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h
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d
.
W
ith
t
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et
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p
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b
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th
e
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n
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ial
p
o
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a
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d
f
in
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p
o
s
itio
n
o
f
th
e
tr
a
s
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a
n
d
th
e
p
o
s
itio
n
o
f
o
b
s
tacle
s
ca
n
b
e
s
ee
n
as
ill
u
s
tr
ated
i
n
Fi
g
u
r
e
2
[
1
6
]
.
I
t
s
h
o
w
s
th
at
t
h
e
s
tar
tin
g
p
o
s
it
io
n
o
f
t
h
e
r
o
b
o
t
is
(
)
,
an
d
g
o
al
p
o
s
itio
n
o
f
t
h
e
r
o
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t
is
(
)
,
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e
i
n
itial
p
o
s
i
tio
n
o
f
th
e
tr
ash
is
(
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,
an
d
f
in
al
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o
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itio
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tr
ash
is
(
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,
an
d
th
e
p
o
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itio
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o
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s
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is
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.
B
y
u
s
i
n
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th
e
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ata
a
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e
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v
ir
o
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m
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m
ap
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i
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h
e
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tio
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d
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iv
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io
n
o
f
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e
m
ap
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ied
o
u
t b
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s
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n
g
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o
u
r
ce
co
d
e
as sh
o
w
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n
f
ig
u
r
e
3
[
1
8
]
.
Fig
u
r
e
2
.
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n
v
ir
o
n
m
e
n
t
Mo
d
els
Fig
u
r
e
3
.
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ir
o
n
m
e
n
t
C
el
l M
atr
ix
Dec
o
m
p
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itio
n
Fig
u
r
e
3
s
h
o
w
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t
h
at
(
)
is
th
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esti
n
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itio
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o
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p
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(
)
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d
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atio
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o
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o
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la
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et
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ee
n
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t
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o
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itio
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d
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m
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et
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h
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r
o
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t
p
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n
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d
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e
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th
o
b
s
t
ac
les.
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h
en
an
d
(
)
ar
e
s
u
m
m
ed
to
o
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a
m
a
tr
ix
e
n
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o
n
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e
n
t v
alu
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.
4.
F
U
Z
Z
Y
L
O
G
I
C
CO
N
T
RO
L
AL
G
O
R
I
T
H
M
B
asic
b
eh
av
io
r
in
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g
e
t
p
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r
s
u
it
i
n
ce
ll
d
ec
o
m
p
o
s
itio
n
al
g
o
r
ith
m
is
t
h
at
t
h
e
r
o
b
o
t
s
ea
r
ch
es
th
e
s
m
al
lest
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r
id
an
d
th
e
n
m
o
v
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f
o
llo
w
in
g
t
h
e
g
r
id
s
to
r
ea
ch
th
e
d
esti
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atio
n
p
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itio
n
.
I
n
th
i
s
s
tu
d
y
,
t
h
e
tr
as
h
ca
n
r
o
b
o
t
is
c
o
n
tr
o
lled
b
y
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ce
v
alu
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s
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f
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d
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ce
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f
r
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m
f
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o
r
it
h
m
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F
u
zz
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i
s
an
ar
tific
i
a
l
in
telli
g
e
n
ce
al
g
o
r
ith
m
[
1
9
-
2
2
]
f
o
u
n
d
b
y
Z
ad
e
h
t
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as
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u
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o
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to
r
as
p
r
ac
tic
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b
y
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Ma
h
ar
an
i
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al
[
2
3
-
2
4
]
to
co
n
tr
o
l
th
e
q
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ad
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d
Mo
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R
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m
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[
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5
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to
co
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o
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A
V
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T
h
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o
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ith
m
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as
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ied
b
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p
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ev
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ch
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u
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W
en
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l.
,
[
2
6
]
u
s
i
n
g
f
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al
g
o
r
ith
m
f
o
r
U
AV
p
at
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la
n
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to
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an
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o
u
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en
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ts
a
t
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u
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e.
I
n
ad
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itio
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,
Ge
et
a
l.
,
[
2
7
]
h
as
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ch
o
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o
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to
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p
lied
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t w
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ic
h
h
a
s
6
w
h
ee
ls
.
T
h
e
alg
o
r
ith
m
ap
p
lied
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ap
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f
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r
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8
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p
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a
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u
tp
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in
F
ig
u
r
e
4
[
1
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]
.
I
t
is
s
ee
n
t
h
at
8
in
p
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t
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0
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4
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w
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.
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I
SS
N
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2
0
8
8
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I
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Vo
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6
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b
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201
6
:
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u
r
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.
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a
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Fu
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g
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5
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1
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.
I
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ee
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t
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at
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in
p
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o
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f
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1
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5
1
7
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.
T
h
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in
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n
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R
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ase
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r
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h
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e
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ase
h
a
s
a
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llectio
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k
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ak
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a
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s
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Fig
u
r
e
6
[
1
8
]
.
I
n
th
e
p
ictu
r
e
th
is
b
asic
r
u
le
i
s
co
m
p
ar
ed
to
all
th
e
in
p
u
ts
f
r
o
m
t
h
e
g
lo
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i
e
w
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e
n
s
o
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s
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d
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s
m
al
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alu
e
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s
d
eter
m
i
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ed
f
r
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m
t
h
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n
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t
v
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u
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o
b
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t
h
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s
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test
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ath
.
Fig
u
r
e
5
.
I
n
p
u
t a
n
d
O
u
tp
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t Se
t
s
o
f
Fu
zz
y
Fig
u
r
e
6
.
B
asic
R
u
le
s
o
f
P
ath
P
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n
i
n
g
Fu
zz
y
5.
M
O
DIFIE
D
C
E
L
L
D
E
CO
M
P
O
SI
T
I
O
N
C
ell
d
ec
o
m
p
o
s
it
io
n
a
lg
o
r
it
h
m
h
as
b
ee
n
s
t
u
d
ied
an
d
ap
p
l
ied
f
o
r
b
asic
b
e
h
av
io
r
o
f
q
u
ad
r
o
to
r
p
ath
p
lan
n
i
n
g
b
y
I
s
w
a
n
to
[
1
6
]
.
B
y
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s
i
n
g
t
h
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s
alg
o
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h
m
,
t
h
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r
o
b
o
t
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d
s
to
th
e
g
o
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p
o
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itio
n
b
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e
n
ti
f
y
i
n
g
th
e
v
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e
o
f
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h
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s
m
alle
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t
g
r
id
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it
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tacle
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as
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g
et
g
r
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t
g
r
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v
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u
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T
h
e
al
g
o
r
ith
m
h
as
b
ee
n
m
o
d
i
f
ied
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
E
C
E
I
SS
N:
2088
-
8708
P
u
r
s
u
it A
lg
o
r
ith
m
fo
r
R
o
b
o
t T
r
a
s
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C
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F
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C
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Dec
o
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b
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p
o
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Fi
g
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r
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7
[
1
8
]
.
I
t sh
o
w
s
t
h
at
)
(
n
O
k
i
s
r
ep
u
ls
i
v
e
f
o
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ce
co
n
s
ta
n
t
f
o
r
n
th
o
b
s
tacle
an
d
GR
k
is
attr
ac
tiv
e
f
o
r
ce
co
n
s
tan
t
f
o
r
th
e
g
o
al
p
o
s
itio
n
o
f
r
o
b
o
t
tr
ash
ca
n
.
Fig
u
r
e
7
.
E
n
v
ir
o
n
t
m
e
n
t
Ma
tr
i
x
Fo
r
m
ed
b
y
So
u
r
ce
C
o
d
e
6.
RE
SU
L
T
AND
ANA
L
YS
I
S
T
h
e
ex
p
er
im
e
n
t
s
co
n
d
u
cted
in
th
is
p
ap
er
u
s
ed
m
atlab
s
o
f
t
war
e
to
m
o
d
el
th
e
tr
as
h
,
en
v
ir
o
n
m
e
n
t
a
n
d
r
o
b
o
t
an
d
s
i
m
u
la
ted
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e
p
er
f
o
r
m
an
ce
o
f
th
e
r
o
b
o
t
in
p
u
r
s
u
i
n
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a
n
d
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ick
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n
g
u
p
t
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as
h
a
n
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tatic
o
b
s
tacle
s
i
n
a
n
u
n
k
n
o
w
n
en
v
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r
o
n
m
e
n
t
m
o
d
el.
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h
er
e
w
er
e
t
w
o
e
x
p
er
i
m
e
n
t
s
i
n
t
h
is
p
ap
er
to
test
t
h
e
p
r
o
p
o
s
ed
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o
r
ith
m
s
; th
e
f
ir
s
t o
n
e
w
as
w
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h
o
u
t static o
b
s
tacle
s
an
d
t
h
e
s
ec
o
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d
w
a
s
w
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h
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o
b
s
ta
cles
.
Fig
u
r
e
8
.
E
x
p
er
i
m
en
t
w
it
h
o
u
t
Ob
s
tacle
s
T
h
e
FC
D
alg
o
r
ith
m
w
a
s
test
ed
in
th
e
f
ir
s
t
ex
p
er
i
m
en
t
i
n
an
u
n
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o
w
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n
v
ir
o
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e
n
t
w
it
h
o
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t
s
tat
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o
b
s
tacle
s
as
s
h
o
w
n
i
n
Fi
g
u
r
e
8
.
I
n
F
ig
u
r
e
8
(
A
)
tr
as
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NC
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S
[1
]
N.
Ko
y
a
c
h
i,
H.
A
d
a
c
h
i,
M
.
Iz
u
m
i
,
a
n
d
T
.
Hiro
se
,
“
Co
n
tro
l
o
f
wa
lk
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n
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m
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p
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ti
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me
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1
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,
in
Ro
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o
ti
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s
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d
A
u
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o
n
,
2
0
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P
ro
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e
e
d
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n
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s.
ICRA
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.
IEE
E
In
tern
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ti
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Co
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n
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n
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2
0
0
2
,
p
p
.
3
5
5
3
–
3
5
5
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.
[2
]
A
.
S
.
S
im
o
e
s,
R.
Ca
rrio
n
,
A
.
C.
G
.
M
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B.
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o
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.
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.
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c
h
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e
li
p
e
,
a
n
d
B
.
A
.
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e
rra
ri,
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to
n
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sig
n
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me
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ica
l
tra
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to
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ta
sk
”
,
i
n
R
o
b
o
ti
c
s
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y
m
p
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siu
m
,
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0
0
6
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L
A
RS
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6
.
IEE
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3
rd
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ti
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e
ric
a
n
,
2
0
0
6
,
p
p
.
2
3
4
–
2
3
9
.
[3
]
T
.
Nish
id
a
,
Y.
Tak
e
m
u
ra
,
Y.
F
u
c
h
ik
a
wa
,
S
.
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ro
g
i,
S
.
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M
.
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a
ta,
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Hira
tsu
k
a
,
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M
i
y
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g
a
w
a
,
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.
W
a
tan
a
b
e
,
T
.
S
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o
,
Y.
Ka
wa
m
u
ra
,
a
n
d
F
.
Oh
k
a
w
a
,
“
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v
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lo
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me
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t
o
f
a
se
n
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r
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m
fo
r
o
u
td
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o
r
se
rv
ice
r
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b
o
t”
,
in
S
ICE
-
ICA
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E,
2
0
0
6
.
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tern
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ti
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,
2
0
0
6
,
p
p
.
2
6
8
7
–
2
6
9
1
.
[4
]
Y.
Ya
m
a
ji
,
T
.
M
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y
a
k
e
,
Y.
Yo
sh
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e
,
P
.
R.
De
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n
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M
.
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,
“
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T
B:
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u
m
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-
d
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p
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t
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sh
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x
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,
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n
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m
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tera
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ti
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(HRI),
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th
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EE
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ter
n
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ti
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o
n
,
2
0
1
0
,
p
p
.
1
9
7
–
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9
8
.
[5
]
S
.
Ya
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g
,
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K.J.
M
o
k
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D.
S
irk
in
,
H.P
.
Iv
e
,
R.
M
a
h
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sh
w
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ri,
K.
F
isc
h
e
r,
a
n
d
W
.
Ju
,
“
Ex
p
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rie
n
c
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s De
v
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lo
p
i
n
g
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c
i
a
ll
y
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p
ta
b
le In
ter
a
c
ti
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s fo
r a
R
o
b
o
ti
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T
ra
sh
Ba
rr
e
l”
,
i
n
Ro
b
o
t
a
n
d
Hu
m
a
n
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tera
c
ti
v
e
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m
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n
ica
ti
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n
(RO
-
M
A
N),
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0
1
5
2
4
t
h
IE
EE
In
tern
a
ti
o
n
a
l
S
y
m
p
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m
o
n
,
2
0
1
5
,
p
p
.
2
7
7
–
2
8
4
.
[6
]
C.
H.
Ch
ian
g
,
“
Vi
si
o
n
-
B
a
se
d
C
o
v
e
ra
g
e
Na
v
ig
a
ti
o
n
fo
r
R
o
b
o
t
T
ra
s
h
Co
l
lec
ti
o
n
T
a
sk
,
”
in
A
d
v
a
n
c
e
d
Ro
b
o
ti
c
s
a
n
d
In
telli
g
e
n
t
S
y
ste
m
s (
A
RIS
),
2
0
1
5
In
tern
a
ti
o
n
a
l
C
o
n
f
e
re
n
c
e
o
n
,
2
0
1
5
,
p
p
.
1
–
6.
[7
]
S
.
Ku
lk
a
rn
i
a
n
d
S
.
Ju
n
g
h
a
re
,
“
Ro
b
o
t
Ba
se
d
In
d
o
o
r
Au
to
n
o
m
o
u
s
T
ra
sh
De
tec
ti
o
n
Al
g
o
rit
h
m
u
sin
g
Ultra
so
n
i
c
S
e
n
so
rs
”
,
in
C
o
n
tro
l
,
A
u
to
m
a
ti
o
n
,
R
o
b
o
ti
c
s
a
n
d
Em
b
e
d
d
e
d
S
y
ste
m
s
(CA
RE),
2
0
1
3
In
ter
n
a
ti
o
n
a
l
Co
n
f
e
re
n
c
e
o
n
,
2
0
1
3
,
p
p
.
1
–
5.
[8
]
G
.
F
o
d
e
ra
ro
,
V.
Ra
ju
,
a
n
d
S
.
F
e
rr
a
ri,
“
A
c
e
ll
d
e
c
o
mp
o
si
ti
o
n
a
p
p
ro
a
c
h
to
o
n
l
in
e
e
v
a
siv
e
p
a
t
h
p
l
a
n
n
i
n
g
a
n
d
th
e
v
id
e
o
g
a
me
M
s.
Pa
c
-
M
a
n
”
,
i
n
2
0
1
1
I
E
EE
In
ter
n
a
ti
o
n
a
l
S
y
m
p
o
siu
m
o
n
I
n
telli
g
e
n
t
Co
n
tr
o
l
(IS
IC)
,
2
0
1
1
,
p
p
.
1
9
1
–
1
9
7
.
[9
]
D.J.
Zh
u
a
n
d
J.C.
L
a
to
m
b
e
,
“
Ne
w h
e
u
risti
c
a
lg
o
rit
h
m
s
f
o
r
e
ff
icie
n
t
h
iera
rc
h
ica
l
p
a
th
p
lan
n
in
g
”
,
IEE
E
T
ra
n
s.
Ro
b
o
t
.
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l
.
1
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I
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p
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.
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.
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.
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p
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s
In
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ica
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Of
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S
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,
In
t.
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.
Ap
p
l
.
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n
g
.
Res
.
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.
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Ca
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ra
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,
In
t.
J
.
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.
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.
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3
]
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.
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rja,
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n
to
,
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.
F
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ris,
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n
d
A
.
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Ca
h
y
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d
i,
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v
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d
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,
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2
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4
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h
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tern
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–
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4
]
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.
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ro
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.
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Ca
h
y
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ti
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1
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In
ter
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ti
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f
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rm
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h
),
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0
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5
,
p
p
.
3
0
9
–
3
1
4
.
[2
5
]
M
.
Re
z
a
,
R.
Kh
o
y
g
a
n
i,
S
.
Ha
ji
g
h
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se
m
i,
a
n
d
D.
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a
n
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e
i,
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sig
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d
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im
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latio
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o
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Co
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tr
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f
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S
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ste
m
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sin
g
P
ID ,
L
QR a
n
d
F
u
z
z
y
lo
g
ic”
,
In
t.
J
.
E
lec
tr.
Co
mp
u
t.
En
g
.
,
v
o
l.
3
,
n
o
.
x
,
p
.
8
7
0
8
,
2
0
1
3
.
[2
6
]
N.
W
e
n
,
L
.
Zh
a
o
,
X
.
S
u
,
a
n
d
P
.
M
a
,
“
UA
V
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t
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l
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a
lg
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m
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lo
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lt
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tu
d
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d
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n
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ro
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v
iro
n
m
e
n
t”
,
IEE
E/
CAA
J
.
Au
t
o
m.
S
in
.
,
v
o
l
.
2
,
n
o
.
2
,
p
p
.
1
7
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–
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,
2
0
1
5
.
[2
7
]
R.
Zh
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n
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,
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u
o
,
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e
,
X
.
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o
,
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Q.
S
h
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o
,
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ra
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ter
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p
ti
m
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p
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f
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r
f
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six
-
w
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a
r
ro
v
e
r”
,
IET
I
n
tell.
T
ra
n
s
p
.
S
y
st
.
,
v
o
l.
7
,
n
o
.
1
,
p
p
.
1
–
9
,
M
a
r.
2
0
1
3
.
Evaluation Warning : The document was created with Spire.PDF for Python.