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Mobile robots are used in manufacturing workshops and storage plants to automate internal logistics. A model of a manufacturing plant which is representative of the forthcoming flexible systems is presented in this paper. It has been implemented in physical simulator V-Rep, with the KUKA youBot robot as the unit to perform material transportation and handling. This implementation has been used to...
The planning of collision-free paths of a team of mobile robots involves many degrees of freedom and therefore the use of sampling-based methods is a good alternative. Among them, the RRT∗ planner has been proposed to cope with optimization problems, and has been proven to be asymptotically optimal. Any optimization function can be defined, although optimization has been usually focused on the traveled...
In order to operate reliably in industrial environments, a mobile robot must know where it is. As part of a student project, a method has been developed for robust localisation in a partly ambiguous environment using a particle filter. This enables accurate estimations of the robot's position by merging odometry readings with measurements provided by a 240 degree laser rangefinder. The developed algorithm...
This paper proposes a solution for solving a specific problem that requires a team of identical robots to collect in a specific order different types of resources scattered throughout an environment. A Petri net with outputs models the environment, the team possible movements and the regions with resources. An iterative solution plans the team such that each robot collects and assembles resources...
On the one hand, it is usual that the current image registration techniques fail when images at hand have large differences due to dissimilarities on the point of views, occlusions, shadows and so on. On the other hand, humans are very good at finding correlations between salient points of images. We propose a method that acts when the automatic method fails, in this case, a human interacts on the...
This paper presents the preliminary results obtained when using a mobile robot to measure gas and wind intensity in an indoor area by means of several attached sensors such as a LIDAR, an e-nose, and an anemometer. The robot navigation was performed by means of a random path planning and the robot self location was performed by means of an SLAM procedure. This paper presents the first preliminary...
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