The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
In this paper, we address the problem of curb detection for a pedestrian robot navigating in urban environments. We devise an unsupervised method that is mostly view-independent, makes no assumptions about the environment, restricts the set of hand-tuned parameters, and builds on sound probabilistic reasoning from the input data to the outcome of the algorithm. In our approach, we construct a piecewise...
We present a novel, efficient and flexible scheme to generate a high quality mesh that approximates the outer boundary of a swept volume. Our approach comes with two guarantees. First, the approximation is conservative, i.e., the swept volume is enclosed by the generated mesh. Second, the one-sided Hausdorff distance of the generated mesh to the swept volume is upper bounded by a user defined tolerance...
We present the successful application of reconfigurable Analog-Very-Large-Scale-Integrated (AVLSI) circuits to motion planning for the AmigoBot robot. Previous research has shown that custom application-specific-integrated-circuits (ASICs) can be used for robot path planning. However, ASICs are typically fixed circuit designs that require long fabrication times on the order of months. In contrast,...
In this paper we discuss the use of the infinite Gaussian mixture model and Dirichlet processes for learning robot movements from demonstrations. Starting point of this work is an earlier paper where the authors learn a non-linear dynamic robot movement model from a small number of observations. The model in that work is learned using a classical finite Gaussian mixture model (FGMM) where the Gaussian...
An exciting recent development is the definition of sampling-based motion planners which guarantee asymptotic optimality. Nevertheless, roadmaps with this property may grow too large and lead to longer query resolution times. If optimality requirements are relaxed, existing asymptotically near-optimal solutions produce sparser graphs by removing redundant edges. Even these alternatives, however, include...
Underactuated compliant robotic hands exploit passive mechanics and joint coupling to reduce the number of actuators required to achieve grasp robustness in unstructured environments. Reduced actuation requirements generally serve to decrease design cost and improve grasp planning efficiency, but overzealous simplification of an actuation topology, coupled with insufficient tuning of mechanical compliance...
The ability to detect changes in the environment is an essential trait for robots commissioned to work in several applications. In surveillance, for instance, a robot needs to detect meaningful changes in the environment which is achieved by comparing current sensory data with previously acquired information from the environment. The large amount of sensory data, which are often complex and very noisy,...
In our prior work, we proposed the IQ-ASyMTRe architecture with a measure of information quality to reason about forming coalitions in multirobot tasks. The formed coalitions are guaranteed to be executable, given the current configurations of the robots and environment. A cost and a quality measure are associated with each coalition to further determine its utility for the task. In this paper, we...
Large numbers of collaborating robots are advantageous for solving distributed problems. In order to efficiently solve the task at hand, the robots often need accurate localization. In this work, we address the localization problem by developing a solution that has low computational and sensing requirements, and that is easily deployed on large robot teams composed of cheap robots. We build upon a...
In scenarios in which new robots and tasks are added to a network of already deployed, interchangeable robots, a trade-off arises in minimizing the cost to execute the tasks and the level of disruption to the system. This paper considers a navigation-oriented variant of this problem and proposes a parametrizable method to adjust the optimization criterion: from minimizing global travel time (or energy,...
This paper provides a reduced-order algorithm, the Extended-Force-Propagator Algorithm (EFPA), for the computation of operational-space inertia matrices in branched kinematic trees. The algorithm accommodates an operational space of multiple end-effectors, and is the lowest-order algorithm published to date for this computation. The key feature of this algorithm is the explicit calculation and use...
ICP (Iterative Closest Point) algorithm plays an important role in sequential scan matching SLAM. In the algorithm, closest point searching is the well-recognized speed bottleneck. We realize that a searching-friendly structure already exists in the raw data sequence from range acquisition device, and the acquisition order, which we called sensor order, is naturally derived from sensor working mechanism...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.