We present a motion planning algorithm for dynamic vehicles navigating through unknown environments. We focus on the scenario in which a fast-moving car attempts to navigate from a start location to a set of goal coordinates in minimum time with no prior information about the environment, building a map in real time from onboard sensor data. Whereas existing planners for exploration confine themselves to a conservative set of constraints to guarantee safety around unknown regions of the environment, we instead learn a hazard function from data, which maps the vehicle's dynamic state and current environment knowledge to a probability of collision. We perform receding horizon planning in which the objective function is evaluated in expectation over those learned probabilities of collision. Our algorithm demonstrates sensible emergent behaviors, like swinging wide around blind corners, slowing down near the map frontier, and accelerating in regions of high visibility. Our algorithm is capable of navigating from start to goal much more quickly than the conservative baseline planner without sacrificing safety. We demonstrate our algorithm on a 1:8-scale high-performance RC car equipped with a planar laser range-finder and inertial measurement unit, reaching speeds of 4m/s in unknown, indoor spaces. A video of experimental results is available at: http: //groups.csail.mit.edu/rrg/nav_learned_prob_collision.

This project focuses on developing a flapping-wing hovering insect using 3D-printed wings and mechanical parts. The use of 3D printing technology has greatly expanded the possibilities for wing design, allowing wing shapes to replicate those of real insects or virtually any other shape. It has also reduced the time of a wing design cycle to a matter of minutes. An ornithopter with a mass of 3.89 g has been constructed using the 3D printing technique and has demonstrated an 85-s passively stable untethered hovering flight. This flight exhibits the functional utility of printed materials for flapping-wing experimentation and ornithopter construction and for understanding the mechanical principles underlying insect flight and control.

A field study of ten organizations was conducted to determine their current practices on definition, interpretation, analysis, and use of the requirements for their software systems and products. The field study consisted of a series of in-depth, structured interviews with practitioners of various kinds. The findings of this study are summarized, and the implications for improving practice either by organizational and methodological interventions or by introducing new technology are explained.>

Article Free Access Share on Object-oriented analysis for evolving systems Authors: Mitchell Lubars View Profile , Greg Meredith View Profile , Colin Potts View Profile , Charles Richter View Profile Authors Info & Claims ICSE '92: Proceedings of the 14th international conference on Software engineeringJune 1992 Pages 173–185https://doi.org/10.1145/143062.143111Published:01 June 1992Publication History 6citation488DownloadsMetricsTotal Citations6Total Downloads488Last 12 Months50Last 6 weeks35 Get Citation AlertsNew Citation Alert added!This alert has been successfully added and will be sent to:You will be notified whenever a record that you have chosen has been cited.To manage your alert preferences, click on the button below.Manage my AlertsNew Citation Alert!Please log in to your account Save to BinderSave to BinderCreate a New BinderNameCancelCreateExport CitationPublisher SiteeReaderPDF