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Given 3D outdoor scenes acquired by a LIDAR sensor, we address the problem of semantic segmentation of 3D point clouds involving simultaneously segmenting and classifying the data. The capability of semantic segmentation is essential for several applications, such as autonomous robot navigation and 3D reconstruction of point clouds. In this paper, we present a higher-order class-specific CRF model...
We consider the problem of organizing a scattered group of n robots in two-dimensional space. The communication graph of the swarm is connected, but there is no central authority for organizing it. We want to arrange them into a sorted and equally-spaced array between the robots with lowest and highest label, while maintaining a connected communication network. In this paper, we describe a distributed...
Multi-robot manipulation allows for scalable environmental interaction, which is critical for multi-robot systems to have an impact on our world. A successful manipulation model requires cost-effective robots, robust hardware, and proper system feedback and control. This paper details key sensing and manipulator capabilities of the r-one robot. The r-one robot is an advanced, open source, low-cost...
For a wirelessly-connected multi-robot system operating in a realistic environment, the wireless communication condition among mobile robots is generally unstable and fluctuating due to the signal loss, attenuation, multi-path fading and shadowing. This paper presents a decentralized control strategy, using the technique of reinforcement learning artificial neural network, to learn and approach a...
This paper focuses on one-legged robot hopping in place and presents the corresponding control method based on the angular velocity of torso. By measuring the angular velocity with the use of a gyroscope during flight phase, the hopping robot controller adjusts the toe of the springy leg to the desired location, so as to control the rotational movement of the robot body, which keeps the robot hopping...
When the exploration scope of the robot is expanded to large regions, the problem becomes more prominent. In this paper, artificial labels are used to provide semantic concepts and relations of the surrounding, which can solve the complexity and limitations of semantic recognition and scene understanding only with robot's vision. Imitating spatial cognizing mechanism of human, the robot constantly...
This paper presents a tele-operative robotic mobile measurement technique for collecting temperature data in data centers. It provides highly effective data support to the analysis of data center thermal profiles, and plays an active role in improving data center cooling and energy efficiencies. With this technique, a human operator controls the navigation of the teleoperative mobile measurement platform...
As sensor technology advances, the availability of high resolution data and complex sensor readings become more commonplace, and the range of potential sensor network applications, accuracy, and data collection efforts expands. As a result, there is an increased need for tiered sensor network architectures and energy efficient data collection mechanisms in order to maintain network feasibility and...
This paper introduces a novel distributed algorithm for deploying multi-robot systems, consisting of mobile robots with limited onboard sensing and wireless communication ranges, to approach the desired sensory coverage over targeted environments while maintaining communication connections. A virtual potential energy is defined for each mobile robot according to the difference between the actual and...
In a multi-agent system, action selection is important for the cooperation and coordination among agents. The better cooperative behaviors can usually be acquired by reinforcement learning. The overlap of actions selected by each agent makes the acquisition of cooperative behaviors less efficient. To solve the problem we propose a novel learning architecture. The architecture consists of several learning...
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