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This paper describes an algorithm for localization of a robot which can efficiently estimate robot in 6 degrees-of-freedom (DoF) pose which consist of position and orientation with large scale point cloud data without giving the initial pose. We introduce the Fast Scene Recognition and Alignment algorithm to reduce the computation time needed for the point cloud alignment by matching robot's scene...
In this paper, a service-oriented multiagent system (SoMAS) for the control and analysis of the cyber–physical system (CPS) in manufacturing automation utilizing a noncontact dynamic obstacle avoidance seven-DoF robot arm is presented. The interfaces of the services which the robot arm subsystem should provide to fully exploit its capability are identified. Specifically, the services of moving, object...
The objective of this paper is to develop conveyer object tracking and fetching system. The traditional visual servo system for parallel robot is based on Eye-to-hand method which suffers from the narrow field of view (FOV). The basic step of moving assembling is multiple objects tracking which needs broad work space and big FOV of the parallel robot. In this paper, a Hybrid Eye-to-hand and Eye-in-hand...
Indoor localization and monitoring system of robots and people are essential issues in robotics research. Several monitoring systems are currently under development by different investigators but they do encounter significant difficulties. For instance, a Pyroelectric Infrared (PIR) system provides less accurate information of human location and is restricted when there are multiple targets. Furthermore,...
The objectives of this paper is to develop a system for an autonomous mobile robot for searching and tracking sound source based target. The target can be a power charge docking station. Finding objects or events by following a sound source direction is an intuitive response for human and animal when they cannot see the target. However, there are relative fewer discussions about sound source tracking...
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