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This paper presents a strategy for descending-stair detection, approach, and traversal using inertial sensing and a monocular camera mounted on an autonomous tracked vehicle. At the core of our algorithm are vision modules that exploit texture energy, optical flow, and scene geometry (lines) in order to robustly detect descending stairwells during both far- and near-approaches. As the robot navigates...
This paper presents a generalized framework for inter-robot information-transfer schemes in Multi-Centralized Cooperative Localization (MC-CL) under asynchronous communication, i.e., when the communication graph associated with the mobile robot network is time-varying and intermittently disconnected. Specifically, two information-transfer schemes, which differ based on their communication bandwidth...
A distributed set-membership-constrained particle filter (SMCPF) is developed for decentralized tracking applications using wireless sensor networks. Unlike existing PF alternatives, SMC-PF offers reduced overhead for inter-sensor communications because it requires only particle weights to be exchanged among sensors, instead of raw measurements or parameters of a Gaussian mixture model. SMC-PF relies...
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