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Research in the areas of localization, mapping and path planning for single mobile robots has been carried out extensively. Nevertheless, relatively little of its work is applied to multiple robot systems. Moreover, when these robots coexist with human, complex and unpredictable human environments make the above navigational tasks even more challenging. To address this problem we propose intelligent...
In this paper, based on circle detection and fitting, an accurate long-distance positioning system using laser range finders (LRFs), is proposed. To utilize orientation-invariant property of the circle, a cylinder shaped bar is chosen as the reference target of the positioning system. After obtaining the arc shaped contour of the cylindrical target scanned from LRF, given the prior information of...
In this paper, an accurate long-distance position measurement system using laser range finders (LRFs), which can be used for surveys in construction fields is proposed. Since the LRF is a sensor which can measure distance to surfaces of objects by radiating laser beams from itself and receiving the reflected ones, data obtained from the LRF are nothing more than the contours of objects. For this reason,...
Intelligent Space (iSpace) is a space which has ubiquitous sensory intelligence. In iSpace, positions of objects inside the space are one of the most basic information to implement various applications. This paper describes a method to localize the target objects using distributed laser range finders. Since data from a laser range finder is only distances and angles to object surfaces, we need to...
In this paper, inspired by RANSAC and Hough Transform voting procedure, a modified RANSAC algorithm of detection of cylindrical reference target using LRF for positioning system is proposed. Utilizing the orientation-invariant property of the circle, cylindrical shaped bar is chosen as the reference target of the positioning system. The given radius of the cylinder and convex arc shaped contour observed...
In this research, we address the calibration of laser range finders distributed in intelligent space (iSpace) which is a space with multiple embedded and networked sensors and actuators. In order to realize automated calibration, we utilize the mobile robots in the space. The mobility of mobile robots allows us to cover wide areas of the environment without placing many landmarks in the exact positions...
Intelligent Space is an environment in which a variety of sensors are distributed and installed. In this paper, the three tools to simulate intelligent space system, environment designer, sensor arranger and simulation runner are explained. They operate to make our simulator a powerful simulation platform for research and many other aims in Intelligent Space. In addition to simulation of the operation...
In this paper, we introduce a basic framework of intelligent space (iSpace) and automated calibration of the distributed sensors using mobile robots. iSpace is a room or area where many intelligent sensors and actuators are distributed and networked. In iSpace, the embedded sensors can monitor the whole environment by communicating with each other through the network. Based on the observed information,...
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