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This paper presents a novel point-cloud descriptor for robust and real-time tracking of multiple objects without any object knowledge. Following with the framework of incremental model-free multiple object tracking from our previous work [5][7][6], 6 DoF pose of each object is firstly estimated with input point-cloud data which is then segmented according to the estimated objects, and incremental...
An algorithm which allows the robot to avoid moving obstacles and to reach the assigned goal is proposed. For this purpose, a dynamical system (DS) modulation matrix is calculated using the distance from the obstacles and their velocity, without the need of an analytical representation of the obstacles. This matrix modulates a generic first order DS, used to generate the desired path, saving the equilibrium...
In comparison to industrial settings with structured environments, the operation of autonomous robots in unstructured and uncertain environments is more challenging. This video presents a generic control and system architecture ARCADE, applicable for real-time robot control in complex task situations. Several methods to cope with uncertainties are demonstrated with the example task of changing tires...
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