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In this work we address the problem of autonomous robotic exploration and map building supported by high level information provided by online topological segmentation that incrementally generates an undirected connected graph of the environment. We formulate the exploration problem as the traversal of all the edges of the online graph, being the optimal solution an Eulerian path, if it exist. We propose...
We propose an alternative to the common approaches to the topological segmentation in structured or unstructured environments, Contour-Based Segmentation. It is faster and equally accurate, without the need of fine tuning parameters or heuristics. During robotic exploration, we propose an incremental version that reduces the processing time by reusing the previous segmentation. Tests demonstrate the...
In this work we address the problem of trajectory planning in Graph SLAM. We propose the use of Expected Value of the Final Uncertainty, which summarizes all the possible uncertainties that should be considered. In fully explored environments, this is used to determine the most reliable path to the final position. In partially explored environments, this criteria quantifies the reliability of the...
Mobile robot navigation in unknown environments requires the concurrent estimation of the mobile robot localization with respect to a base reference and the construction of a global map of the navigation area. In this paper we present a comparative study of the performance of the localization and map building processes using two distinct sensorial systems: a rotating 2D laser rangefinder, and a trinocular...
This paper presents a method to automatically generate probabilistic graphs for path planning out of stochastic maps. A sample based technique is used to generate a set of paths from which a graph structure of the map is built. The nodes of the graph represent places in the map and the edges the paths between those places, which are labelled with the cost of traversing the edge and the probability...
By weakening an inference rule satisfied by logic daC, we define a new paraconsistent logic (daC'), which is weaker than logic $${{\mathbb{Z}}}$$ Z and G′3, enjoys properties presented in daC like the substitution theorem, and possesses a strong negation which makes it suitable to express intutionism. Besides, daC' helps to understand the relationships among other logics, in particular...
In this paper we describe a Simultaneous Localization and Mapping (SLAM) approach specifically designed to address the communication and computational issues that affect multi-robot systems. Our method utilizes condensed measurements to exchange map information between the robots. These measurements can effectively compress relevant portions of a map in a few data. This results in a substantial reduction...
This paper presents an EKF-based approach to the problem of robot formation pose tracking in SLAM when a previously built feature-based stochastic map of a navigation area is available. We show how a direct implementation of the EKF algorithm leads to inconsistency in the estimated localization. We justify the origin of the anomalous behaviour of the filter in the time-correlated nature of the measurement...
The ever increasing resolution of metrological and production devices, with required operation ranges below one micron, results in the necessity for isolating the sensor or tool from any external perturbation. For that, it is normally unavoidable the application of active strategies, capable of eliminating the resonance peaks and obtaining good damping results without an important reduction in the...
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