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This paper describes an extensible framework for real-time self-calibration of cameras in the simultaneous mapping and localization (SLAM) setting. The system is demonstrated to calibrate both pinhole and fish-eye camera models from unknown initial parameters while seamlessly solving the maximum likelihood online SLAM problem in real-time. Self-calibration is performed by tracking image features,...
In order to realize the stabilization and the tracking performance of MIS (minimally invasive surgical) robot control system in the presence of uncertainty in the system dynamics, the linearization of the MIS tele-operation system model is processed firstly. Furthermore, the robust control problem is formulated as a robust state feedback stabilization problem subject to parameter uncertainties and...
Localisation and mapping are fundamental capabilities for autonomous mobile robots, and there has been a large amount of recent work in these fields. However, much of the work does not consider dynamic environments that include humans and moving objects. Such objects can cause occlusions resulting in a fewer visible landmarks, which can decrease localisation performance. This paper describes a novel...
Introducing robotic technology within the diving context is a very promising idea in order to improve and optimize conditions of divers during missions, both in terms of easiness and in terms of safety. In fact, a diver companion robot can support the diver by carrying bulky equipment, helping in various tasks and also correctly and promptly reacting in case of an emergency. To this aim, the Eu funded...
This paper focuses on the design of a gripper that can grasp objects with shape, size and pose uncertainty. Rather than a dexterous hand with multiple actuators and sensors, a passively adaptive gripper made of soft material can conform to various objects by using compliance. In this paper, we present a novel design methodology for a passively adaptive gripper by employing a level-set-based topology...
In this paper we investigate the action selection problem for multiple mobile robots active and cooperative global localization in large environments. Firstly, an off-line localizability estimation approach using known probabilistic grid map (PGM) is briefly proposed and a localizability matrix is presented to describe properties of expected localization probability distribution (LPD). Based on the...
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