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This paper presents a novel approach for collision avoidance for indoor mobile robots based on human-robot interaction. The main contribution of this work is a new technique for collision avoidance by engaging the human and the robot in generating new collision-free paths. In mobile robotics, collision avoidance is critical for the success of the robots in implementing their tasks, especially when...
Virtual submerged floating operational system (VSFOS), built in the laboratory environment, consisted of an ABB robot, the IRC5 controller, a six-degrees-of-freedom (6DOF) parallel robotic motion platform, an inertial navigation sensor and a real-time industrial computer, can make it possible to do all kinds of underwater operational simulation experiments very easily and expediently. In this paper,...
A new mobile robot transportation system has been developed for modern life science laboratories. In the system, a new kind of sensors named StarGazer is adopted for the mobile robots' indoor localization. To improve the positioning robustness of the StarGazer sensors under laboratory ceiling interference situations (such as, the strong ceiling lighting), a new hybrid signal filtering method is proposed...
This paper presents a novel and effective method for estimating the position and linear velocity of a mobile robot in real-time in unknown environments by fusing visual information from an omnidirectional vision system with the measurements of an inertial sensor system. Based on a new projection model of the omnidirectional vision system, we propose a novel adaptive algorithm, similar to the Slotine-Li...
This paper presents a novel and effective method for localizing the position of a mobile robot in real-time in unknown environments by fusing an omnidirectional vision system and odometry/orientation sensor. Based on a new derivation where the omnidirectional projection can be linearly parameterized by the position of the robot and the unknown structures of natural features in the environment, we...
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