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One of the common applications for outdoor robots is to follow a path in large scale unknown environments. This task is challenging due to the intensive memory requirements to represent the map, uncertainties in the location estimate of the robot and unknown terrain type and obstacles on the way to the goal. We develop a novel graph-based path planner that is based on only local perceptual information...
Pose estimation of outdoor robots presents some distinct challenges due to the various uncertainties in the robot sensing and action. In particular, global positioning sensors of outdoor robots do not always work perfectly, causing large drift in the location estimate of the robot. To overcome this common problem, we propose a new approach for global localization using place recognition. First, we...
A fundamental challenge for robotic target-tracking systems is to cope with cases in which the target is not seen for long periods of time. An additional challenge in multiple-robot systems is to coordinate robot activity to best track targets with limited visibility. We describe a novel technique that combines a particle filter target model with a potential field robot controller. Robots are attracted...
An overview of a probabilistic cooperative tracking approach is presented in this paper. First, a new tutorial-like detailed explanation of the condensation algorithm by Isard and Blake, (1998) is described. Then we apply the probabilistic tracker to track an object (easily extendable to multiple objects) according to multiple degrees of freedom of the cameras that are able to pan, tilt and zoom....
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