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Segmenting a 3D model is an important challenge since this operation is relevant for many applications. Making the segmentation algorithm able to find relevant and meaningful geometric primitives automatically is a very important step in 3D image processing. In this paper, we adapted a 2D spectral segmentation method, Power Iteration Clustering (PIC), to the case of 3D models. This method is fast...
More and more, robotics is perceived in education as being an excellent way to promote higher quality learning among students, by grounding theoretical concepts into reality. In order to maximize the learning throughput, the focus of any robotics software platform should be on ease of use, with little time spent integrating the components together. To this effect, we introduce ros4mat, an open source...
In this paper we examine the interplay between terrain classification accuracy and gait in a walking robot, and show how changes in walking speed can be used for terrain-dependent walk optimizations, as well as to enhance terrain identification. The details of a walking gait have a great influence on the performance of locomotive systems and their interaction with the terrain. Most legged robots can...
For underwater swimming robots, which use the unconventional method of oscillating flippers for propulsion and control, being able to move stably at various velocities is challenging. This stable motion facilitates navigation, avoids blurring the images taken by a camera motion, and enables long-term observations of specific locations. Previous experiments with our swimming robot Aqua have shown that...
Cooperative localization is one of the fundamental techniques in GPS-denied environments, such as underwater, indoor, or on other planets, where teams of robots use each other to improve their pose estimation. In this paper, we present a novel schema for performing cooperative localization using bearing only measurements. These measurements correspond to the angles of pairs of landmarks located on...
In this paper we describe a heterogeneous multi-robot system for assisting scientists in environmental monitoring tasks, such as the inspection of marine ecosystems. This team of robots is comprised of a fixed-wing aerial vehicle, an autonomous airboat, and an agile legged underwater robot. These robots interact with off-site scientists and operate in a hierarchical structure to autonomously collect...
In recent years, autonomous robots have been increasingly deployed in unknown environments. In order to cope with the unknown, the capability to train autonomously the perception model of an environment is highly desirable. By developing proper sensing technology, this task can be significantly facilitated. In this paper, we explore the problem of artificial tactile perception, aimed at surface identification...
We describe the development and deployment of a system for long-distance remote observation of robotic operations. The system we have developed is targeted to exploration, multi-participant interaction, and tele-learning. In particular, we used this system with a robot deployed in an underwater environment in order to produce interactive web-casts of scientific material. The system used a combination...
This paper describes an approach to surface identification in the context of mobile robotics, applicable to supervised and unsupervised learning. The identification is based on analyzing the tip acceleration patterns induced in a metallic rod, dragged along a surface that is to be identified. Eight features in time and frequency domains are used for classification. Results show that for ten type of...
In this paper we are interested in autonomous vehicles that can automatically develop terrain classifiers without human interaction or feedback. A key issue is the clustering of time-series data collected by the sensors of a ground-based vehicle moving over several terrain surfaces (e.g. concrete or soil). In this context, we present a novel off-line windowless clustering algorithm that exploits time-dependency...
AQUA, an amphibious robot that swims via the motion of its legs rather than using thrusters and control surfaces for propulsion, can walk along the shore, swim along the surface in open water, or walk on the bottom of the ocean. The vehicle uses a variety of sensors to estimate its position with respect to local visual features and provide a global frame of reference
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