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This paper describes the implementation of a miniature open-source and cost-effective SLAM-robot, utilizing a novel occupancy-grid SLAM algorithm based on the concept of random-finite-sets (RFS). This robotic platform is remotely controlled to move and scan unknown environments using a differential drive system algorithm, sending instantaneous position feedback to the remote operator. The mobile robot...
The controllability of the cascade leader-follower formation system for multi-robots is studied based on the controllability rank condition for general nonlinear system. For the cascade robot formation system, bearing-only unscented Kalman filter (UKF) is used for the state estimation of the leader and the follower robots at all levels, which enables the real-time movement control of the follower...
Doppler radars are low cost and light weight sensors that have a potential to find wide applications in building a large team of mobile vehicle platforms. Because of the nonlinearity associated with the measurement from Doppler radars, it is both interesting and challenging to extract meaningful information from the low cost sensors. Building upon the authors' previous work on self localization with...
In this paper, we report on a body state and ground profile estimator for a snake-like robot executing a rolling gait to travel from flat ground to a slope. With the help of the estimator, the snake-like robot can adaptively adjust the body shape and locomotion speed by changing the gait parameters for the purpose of tackling a steep slope. Specifically, we propose a repeating sequence of continuous...
Particle filters using Gmapping proposal distribution has demonstrated their effectiveness in target tracking and robot self-localization. Due to the number of particles required in this approach, the computational demand is an issue associated with the Gmapping proposal distribution. The traditional approach is often ad hoc by setting a threshold for acceptance/rejection sampling to reduce the number...
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