Modified Newton's method applied to potential field-based navigation for nonholonomic robots in dynamic environments
Why this work is in the frame
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Bibliographic record
Abstract
SUMMARY This paper is to investigate inherent oscillations problems of potential field methods (PFMs) for nonholonomic robots in dynamic environments. In prior work, we proposed a modification of Newton's method to eliminate oscillations for omnidirectional robots in static environment. In this paper, we develop control laws for nonholonomic robots in dynamic environment using modifications of Newton's method. We have validated this technique in a multi-robot search-and-forage task. We found that the use of the modifications of Newton's method, which applies anywhere C 2 continuous navigation functions are defined, can greatly reduce oscillations and speed up the robot's movement, when compared to the standard gradient approaches.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.001 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it