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This paper presents the integration of a multiple people detection and identification system with a dynamic simultaneous localization and mapping system for an autonomous robotic platform. This integration allows the exploration and navigation of the robot considering people identification. The robotic platform consists of a Pioneer 3DX robot equipped with an RGBD camera, a Sick Lms200 sensor laser...
With the imminent growth and the progressive interest in the subject, the unmanned aerial vehicles (UAVs) are already a reality in our daily life. The search for air vehicles, which is ambitious for a future in which the UAVs can act autonomously and safely, continuously drives this sector. The present work aims to apply artificial intelligence techniques to classical control systems, in order to...
This work deals with the problem of navigation and location of an unmanned aerial vehicle (UAV) that results in the estimation of the state variables of the vehicle. In order to solve the problem, first we chose a fixed-wing aircraft model available for flight simulators. Then, we applied the cointegration method to a set of inertial sensors composed of two accelerometers, and two gyroscopes. It is...
The remarkable growth of the different applications for unmanned aerial vehicles (UAVs) are currently of high research interest. This paper proposes a new approach for the attitude control system of a fixed wing aircraft. Using techniques of Artificial Intelligence (AI), this research presents a solution that uses Adaptive Neuro-Fuzzy Inference System (ANFIS) as flight dynamics identifier, and genetic...
This paper proposes the deployment of an embedded system for a fixed-wing unmanned aerial vehicle (UAV), including the implementation of an autonomous navigation algorithm for it. An Extended Kalman Filter (EKF) based Global Positioning System (GPS) / Inertial Navigation System (INS) integration with cointegrated measurements from inertial sensors has been developed in order to achieve localization...
This paper presents the implementation of a people detection system for a robotic platform able to perform Simultaneous Localization and Mapping (SLAM), allowing the exploration and navigation of the robot considering people detection interaction. The robotic platform consists of a Pioneer 3DX robot equipped with an RGB-D camera, a Sick Lms200 sensor laser and a computer using the robot operating...
The accurate evaluation of electrical parameters like effective channel length and series resistance for 10 to 22nm FinFETs is very complex, although extremely important for the correct device modelling. Our paper reviews and applies to measured FinFETs various DC methods for the extraction of effective channel length and source/drain resistance. Experimental devices with fin thickness from 10nm to...
In the last decade, there has been a rising interest in cyber physical systems (CPS), both in civil and military use. Together with the popularization and evolution of navigation sensors, as global position system (GPS) and inertial measurement unit (IMU), has triggered researches in control systems that are more suitable to non-linear systems of an airplane in flight. Classic control systems has...
Our work presents a proposal for SLAM (Simultaneous Localization and Mapping) problem in dynamic environments. A method for robot self-localization is described. During operations in dynamic environments, only static landmarks are used. For this purpose, an outliers filter was designed. It separates static and mobile landmarks that are included in a set of neglectable marks. A modified particle filter...
Many robotics problems such as simultaneous localization and mapping (SLAM) and bundle adjustment (BA) can be formulated as a nonlinear least squares graph optimization. In these strategies, each node in the graph represents a robot position or a sensor measurement obtained at that position. Edges represent constraints between these nodes. The first part of the problem known as front-end is generating...
The implementation of the BSIM-CMG parameter extraction procedure is presented and discussed, based on measurements. FinFETs with mask channel length from 45nm to 10µm were measured and their DC I–V data used for the extraction. We show an improved fitting of a wide range of channel lengths using a single set of model parameters. Measured devices with fin thickness of 10nm, 15nm and 20nm are studied...
Using a SLAM technique, known as Rao-Blackwellized particle filter (RBPF), this work proposes to compare the performance of this solution in two situations: (a) using a rangefinder laser sensor to build an occupancy grid, as done in previous works in literature, and (b) using an active stereoscopic camera. This will allow to generate an occupancy grid, simultaneously while doing the robot's localization,...
This paper proposes a Multilayer Perceptron application in a FastSLAM solution for landmarks update aimed at improve computational performance. The algorithm extracts landmarks from visual sensors, and uses a common features map for two robots. Both activities (i. e. location for the robots and exploration task) are coordinate by central agent. Landmarks update a than are done with a neural network...
This work describes the development of a computational system for a GCS (Ground Control Station) able to control the flight and navigation of multiple UAVs (Unmanned Aerial Vehicles), implementing features for formation flying and obstacle avoidance. The system was structured in two modules, the mission planning and the multiple flight control module. The mission planning consisted of two other, the...
Extended Kalman Filter (EKF) is a method widely used for noise treatment in robotics systems. It needs to perform several computational operations such as matrix multiplication, matrix inversions and Jacobians. In Fast SLAM, a solution for SLAM (Simultaneous Localization and Mapping) problem, EKF is utilized for landmarks updates. SLAM should be solved in real time. Artificial neural networks can...
To mimic reality through a computational system is not a trivial task. It requires that one manages resources, displays coherent imagery, as well as allowing real-time interaction. This work describes the implementation of a system which allows the display of content in a CAVE system. The system provides support to non conventional devices, such as Data Gloves, Position Tracker as well as devices...
In this work we investigate the exploration of an environment with multiple vehicles using a strategy based on occupancy grids and a technique of simultaneous localization and mapping (SLAM). The exploration strategy uses concepts of costs and utility from frontier cells. Besides, the used SLAM method is based on a FastSLAM algorithm with landmarks extracted from visual sensors and a common map of...
In this work we investigate the exploration of an environment with multiple vehicles using a strategy based on occupancy grids and a technique of simultaneous localization and mapping (SLAM). The exploration strategy uses concepts of costs and utility from frontier cells. Besides, the used SLAM method is based on a FastSLAM algorithm with landmarks extracted from visual sensors and a common map of...
This article proposes a basic platform for inertial measurements. In order to control an autonomous vehicle, it is fundamentally important to know its attitude. For aerial vehicles, this information is critical to determining the control loop's feedback parameters. For manned aircraft, roll, pitch and yaw can be obtained through orientation by an inertial reference, usually the ground, or instruments...
This works aims at describing the design and implementation of a portable 3D VR setup. We use off the shelf parts which lead to an overall low cost. Unlike some related work, our prototype is fully enclosed (and independent of extra external parts to work). In this manuscript we describe the prototype as well as exploit use cases scenarios.
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