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3D LiDAR is widely used for mobile robots environment perception nowadays, which has high precision of distance measurement. In this paper, a calibration method which is suitable for Velodyne VLP-16 is firstly introduced. And then we utilize statistical filtering for isolated points removal. After statistical filtering, a slope location and orientation estimation method is presented based on PROSAC...
This paper proposes a hierarchical task allocation method, based on the matching of task cases. On the basis of hierarchical organization form of multi-robot system, the tasks are allocated by case matching, which is based on the combination of contract net and acquaintance net. After a new task is arrived, its features are synthesized and then it is matched from task cases library. When the stored...
This paper proposes a fuzzy coordination control method among a group of distributed robots using only vision. A leading robot moves along a predetermined trajectory, and other robots called coordinators endeavor to establish the relationship with the leader, by keeping the relative distance and visual observation angle. The distance to be kept is adjusted by fuzzy logic, which outputs the velocity...
This paper proposes a new forward passageway (FP) based real-time collision-free target tracking approach for a mobile robot with local sensing. After the position of the target is estimated and localized in robot coordinate system through the combination of vision system and encoder, the sonar information and the target position are converted to a uniform environment model framework called decision-making...
The swimming backward method for biomimetic carangiform robotic fish is analyzed in this paper based on the dynamic/kinematic model. The equation of Lagrange of multi-link carangiform robotic fish and simplified fluid force are inducted to calculate the dynamic and kinematic characteristics of the motions. A specific gait is calculated to make the profile of the carangiform robotic fishpsilas undulation...
This paper proposes a hunting control approach for multiple mobile robots with local sensing. Predator Robot (PR) requires the sensing information and makes decision without communication with other PRs. The cooperation may emerge by local interactions among the robots. The invader (IR) is given the intelligent ability to escape. Experiments results show the validity of the proposed approach.
In this paper, a novel biomimetic robot fish FAC-I with 3-D locomotion is designed for underwater exploration and surveillance. It is equipped with CCD camera, infrared and pressure sensors to acquire the outside information. The robot fish has a tail thruster imitating the dolphin motion, a pair of pectoral fins and a buoyancy-adjusting mechanical structure BAMS. The tail thruster provides the main...
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