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As the competitive networked robot system has the characteristics of strong interaction and high real-time request, the present control methods which are mostly used for the collaborative networked robot system may not be directly applied to the competitive one. Thus the hierarchical control architecture for the competitive networked robot system is proposed in this paper in order to adapt to its...
This paper proposes a Markov Random Field (MRF) representation for sensor and terrain information fusion in a 2.5D map. Unlike in the previous works, the proposed MRF formally models the sensor pose and measurement uncertainties, thus allowing the measurements to be appropriately fused with terrain information. Additionally, the MRF's graphical modelbased representation allows for an easy modification...
Several methods for the estimation of thermal diffusivity are studied in this work. In many application scenarios, the thermal diffusivity is unknown and must be estimated in order to perform other estimation functions (e.g., tracking of the physical phenomenon, or solving other inverse problems like localization or sensor variance, etc.). In particular, we describe: 1) The use of minimization methods...
The work demonstrates how the methods of Active Sensing (AS), based on the theory of optimal experimental design, can be applied for a location estimation scenario. The simulated problem consists of several mobile and fixed nodes where each mobile unit is equipped with a gyroscope and an incremental path encoder and is capable to make a selective range measurement to one of several fixed anchors as...
Autonomous mobile robots offer the prospect of extending our knowledge of remote places in the solar system or in the ocean. They also have the potential to improve everyday life with ever increasing adaptability to a large variety of environments. One of the key technological elements is the ability to navigate unknown and uncooperative environments. A range of solutions for the simultaneous localisation...
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