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The motion of wheeled mobile robots is inherently based on their wheels' rolling capabilities. The assumption is that each wheel can rotate indefinitely, backwards or forward. This is the starting point for all motion control mechanisms of wheeled robots. In this paper, a new motion capability of differential mobile robots with limited wheel rotation capabilities is presented. The robot will be able...
Emergency and exploration missions are accomplished by remote stationary personnel and on-site responders that can deploy robots for dealing with situations involving hazard or inaccessibility. Thus, human-robot interaction (HRI) plays a key role in these kinds of applications. Intra-scenario operator mobility is often considered to be advantageous for acquiring situational awareness (SA) in the context...
In this paper, we present an application to Search and Rescue of a task negotiation protocol for teams of heterogeneous robots. Self-organization through autonomous negotiations allow the robots to assign themselves a number of target observation points decided by the operator, who is relieved from deciding the optimal assignment. The operator can then focus on monitoring the mission and deciding...
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