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This paper presents the mechatronic design and hydrodynamic analysis of a novel bioinspired robotic dolphin used for mobile water quality monitoring. A complementary configuration for mimicry of dolphin-like propulsion is first presented, involving a waist–fluke propulsive unit for dorsoventral oscillations and a pair of flippers with separate degree of freedom for three-dimensional (3-D) maneuvers...
A two-layer navigation architecture for autonomous indoor exploration is proposed. As doors in the indoor environments are ubiquitous and informative for navigation, the high-level layer uses a stereo vision based algorithm to detect doors in order to generate a series of goal points. The low-level layer makes the robot avoid obstacles and navigate to the goal points by an improved dynamic window...
Complete coverage path planning is a key problem for autonomous mobile robot, which concerns both efficiency and completeness of coverage. This paper proposed a novel strategy of combined coverage path planning method, which combines the template-based and the heuristic coverage path planning. The template-based mode allows the robot to run under some predefined motion templates which can realize...
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