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Mobile robots, be it autonomous or teleoperated, require stable communication with the base station to exchange valuable information. Given the stochastic elements in radio signal propagation, such as shadowing and fading, and the possibilities of unpredictable events or hardware failures, communication loss often presents a significant mission risk, both in terms of probability and impact, especially...
Often multiple instances of an object occur in the same scene, for example in a warehouse. Unsupervised multi-instance object discovery algorithms are able to detect and identify such objects. We use such an algorithm to provide object proposals to a convolutional neural network (CNN) based classifier. This results in fewer regions to evaluate, compared to traditional region proposal algorithms. Additionally,...
Exploring and modeling heterogeneous elastic surfaces requires multiple interactions with the environment and a complex selection of physical material parameters. The most common approaches model deformable properties from sets of offline observations using computationally expensive force-based simulators. In this work we present an online probabilistic framework for autonomous estimation of a deformability...
In this work we study the problem of exploring surfaces and building compact 3D representations of the environment surrounding a robot through active perception. We propose an online probabilistic framework that merges visual and tactile measurements using Gaussian Random Field and Gaussian Process Implicit Surfaces. The system investigates incomplete point clouds in order to find a small set of regions...
Concurrent telecontrol of the chassis and camera of an Unmanned Ground Vehicle (UGV) is a demanding task for Urban Search and Rescue (USAR) teams. The standard way of controlling UGVs is called Tank Control (TC), but there is reason to believe that Free Look Control (FLC), a control mode used in games, could reduce this load substantially by decoupling, and providing separate controls for, camera...
Teleoperation of a mobile robot manipulating and exploring an object shares many similarities with the manipulation of virtual objects in a 3D design software such as AutoCAD. The user interfaces are however quite different, mainly for historical reasons. In this paper we aim to change that, and draw inspiration from the 3D design community to propose a teleoperation interface control mode that is...
Teleoperated Unmanned Ground Vehicles (UGVs) are expected to play an important role in future search and rescue operations. In such tasks, two factors are crucial for a successful mission completion: operator situational awareness and robust network connectivity between operator and UGV. In this paper, we address both these factors by extending a new Free Look Control (FLC) operator interface with...
The aim of this paper is to propose a computational model, inspired by Drosophila melanogaster, able to handle problems related to motor learning. The role of the Mushroom Bodies and the Central Complex in solving this problem is analyzed and plausible biologically inspired models are proposed. The designed computational models have been evaluated in simulation using a dynamic structure inspired by...
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