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This paper dwells upon the promising 3D technology for mobile robots and automation industry. The first part of the paper describes the design details of our own 3D Time of Flight (TOF) scanning system based on 2D laser range finder. The second part presents a specific segmentation technique for 3D outdoor urban environments by the common detection of plane models. In a few words, the technique separates...
This paper presents a method for detecting people from images taken with a camera mounted on a robot. The purpose of the detection is avoiding people collision while robot is moving within an unknown environment. It combines two algorithms for this purpose. First, the appearance of people is learned using a set of Haar-like features and the Adaboost algorithm. This information is embedded by building...
The localization problem in indoor environment based on LIDAR measurements is analyzed in this paper. Practical aspects of the localization are discussed including the implementations of the state estimation and registration algorithms. The localization framework developed is sufficient generic to be used in a variety of other autonomous vehicles. The results of the proposed navigation algorithms...
This paper describes the path planning for the mobile robots, based on the Markov decision problems and the detection of dynamic objects using stereo-vision. The presented algorithms are developed for resolving problems with partially observable states. The algorithm is applied in an office environment and tested with a skid-steered robot. The created map combines two mapping theory, the topological...
This paper tackles the problem of the position measurement and estimation techniques in the robot navigation field based on Kalman filters. It presents the problem of the position estimation based on odometric, infrared and ultrasonic measurements. Further on deals with the theoretical and practical aspects of the state estimation based on Kalman filtering techniques. From the wide range of derivatives...
The case of an adaptive controller is developed for a robot system actuated by brushed direct current motors in the presence of external disturbances and parametric uncertainties. The control scheme requires the measurements of link position and armature current for feedback. The elaborated adaptive controller results in a closed-loop system locally stable while the all states and signals are bounded...
The aim of this paper is to present concepts and algorithms for formation navigation in multi-mobile robots systems. The behavior based approach was chosen considering a correspondence with biological systems. The paper presents aspects concerning absolute and relative mobile robots positioning within a formation, as well as inter-robot communication using a client-server model and TCP/IP protocol...
The development of a training system in the field of rehabilitation has always been a challenge for scientists. Surface electromyographical signals are widely used as input signals for upper limb prosthetic devices. The great mental effort of patients fitted with myoelectric prostheses during the training stage, can be reduced by using a simulator of such device. This paper presents an architecture...
This paper presents the conceptual design and the experimental results regarding the development of an industrial robot wireless controller using miniature computers. The industrial robot wireless controller is a part of a bigger project which has as main goal the development of a low-cost industrial robot simulation system. In this paper we describe the general hardware and software architecture...
There are analyses of the effects of the small delays in the feedback loop that inevitably lead the systems into an unstable situation. How small must be the delay in real conditions such that to preserve the system stability, is studied and analyzed for a robot manipulator. The case of an adaptive controller is also developed for the robot system actuated by brushed direct current motors in the presence...
We report on ongoing research regarding the development of open mobile robot architectures. Preliminary results of our work show that a great degree of modularity and complexity in mobile robot design can be achieved, by simply using off-the-shelf available hardware components. A hardware robotic platform would not be nearly as efficient, if it wouldn't be sustained by an adequate software system...
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