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This paper presents an automatic 3-D laser measurement system of an environmental structure using the cooperation of multiple mobile robots. The robots are equipped with two types of laser sensors and measure the 3D environmental structure while moving around the environment automatically. To identify the measurement positions by the robots, Cooperative Positioning System (CPS) is utilized which is...
This paper describes a method for Event handling on Robot Town platform and its application by using a wheelchair robot. To enable a sharable personal mobility robot system by using a motorized wheelchair on the market, vision sensors and RFID tags are distributed and are connected to a network. Sensor data are used by the robot for not only the event to perform self-localization but also the event...
Traditional methods require large computation to model a contact state graph of polyhedral objects for robotic application, and moreover they are heuristic. In this paper, we propose a framework to generate the contact state graph automatically. All faces of the polyhedral objects are triangulated. A sub-contact is defined as single contact between two polyhedral objects and a contact state is presented...
We propose an object tracking system for a service robot working in an everyday environment. The system is composed of an intelligent cabinet, a floor sensing system and a data management system. The position of an object can be classified into three areas: 1) in/on furniture, 2) on the floor, 3) held by a human or a robot. Being equipped with a RFID reader and loadcells, the intelligent cabinet measures...
We describe a decision method for effective placement of tactile elements for grasp-type recognition. Not only does the placement decided by our method require a small number of tactile elements, it also achieves recognition performance as high as placements consisting of many elements. The placement decided by the method is evaluated through experiments involving the recognition of grasp type from...
This paper proposes an exploration method for an automated 3D map generation of an unknown environment by using a group of robots equipped with LRF (laser range finder). The robots are composed of a parent robot measuring its environmental structure and two child robots being used as landmarks for localization of the parent robot. The method decides positions of the robots to generate the accurate...
This paper describes a platform of ambient intelligence for robots working in an ordinary environment for daily human life. To enable autonomous robotic activities, vision sensors and RFID tags are distributed in the environment and are connected to a network. The data from distributed sensors are integrated, and are provided to robots to support their activities. Based on the analysis of sensor functions...
This paper presents a sensor network system consisting of distributed cameras and laser range finders for multiple objects tracking. Sensory information from cameras is processed by the level set method in real time and integrated with range data obtained by laser range finders in a probabilistic manner using novel SIR/MCMC combined particle filters. Though the conventional SIR particle filter is...
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