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Real-time and accurate robot detection and localization is important for the RoboCup Middle size League (MSL) soccer robots. In the current robot detection methods used by most of the teams, the black-color-based information is used to distinguish robots from the environment, which is not robust if the robot changes its makers' color according to the current rule. Considering the good performance...
Encirclement control enables a multi-robot system to rotate around a target while they still preserve a circle formation, which is useful in real world applications such as entrapping a hostile target. In this paper, a distributed control law is proposed for any number of anonymous and oblivious robots in random three dimensional positions to form a specified circular formation with any desired inter-robot...
Self-Localization is the basis to realize mobile robot's autonomous ability such as motion planning, control decision and cooperation. Omnidirectional vision is one of the most important sensors for RoboCup Middle Size League soccer robots, and Motion Trackers instrument (MTi) is a kind of inertial sensors which can measure the attitude of the robot in real-time and accurately. In this paper we propose...
One of the challenges of SLAM (simultaneous localization and mapping) for autonomous robots is the loop closing problem. In this paper, a decision-theoretic active loop closing approach is presented, which integrates the exploration planning with loop closing. In our approach, the active loop closing process is modeled as a multi-stage decision problem, and a frontier-based auxiliary topological map...
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