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The document that should appear here is not currently available. IEEE Xplore is working to obtain a replacement PDF. That PDF will be posted as soon as it is available. We regret any inconvenience in the meantime.
The document that should appear here is not currently available. IEEE Xplore is working to obtain a replacement PDF. That PDF will be posted as soon as it is available. We regret any inconvenience in the meantime.
In this paper, we present a layered control scheme for an autonomous sailboat. The high level control uses a custom cost function with a PRM-Dijkstra algorithm for the routing (global path planning) of autonomous sailboat. This algorithm exploits the sailboat kinematics and wind distribution on a map. For the low level control, we design a new nonlinear course (direction of the velocity vector) controller...
In this work we focus on the development of a new control strategy for the guidance of the Aerosonde UAV. An event-based control strategy has been developed with controllers that have a high efficiency in communication resources usage. The architecture that it is proposed has two principal parameters: the event threshold ē and the minimum inter-events time Tmin which permit to set the accuracy of...
A typical feature of robotic architectures are its reactivity and self-adaptivity. In practice, this is achieved by context-dependent dynamic invocation of software components in robotic architectures. In this paper, we specifically address how this self-adaptation capability can be formally defined and modeled in an architecture-independent way. We propose a probabilistic approach that facilitates...
Partially observable Markov decision processes (POMDPs) have been widely used to model real world problems because of their abilities to capture uncertainty in states, actions and observations. In robotics, there are also constraints imposed on the problems, such as time constraints or resources constraints for executing actions. In this work, we seek to address the problems of planning in the presence...
In this work we present the Object Labeling Toolkit (OLT), a set of software components publicly available for helping in the management and labeling of sequential RGB-D observations collected by a mobile robot. Such a robot can be equipped with an arbitrary number of RGB-D devices, possibly integrating other sensors (e.g. odometry, 2D laser scanners, etc.). OLT first merges the robot observations...
We present a planning approach for complex motions of reconfigurable snake-like robots to overcome challenging obstacles like stairs or large steps. The current robot configuration as well as different optimization criteria like distance, time or energy, are taken into account. The planning time remains unaffected by the amount of robot modules by combining the planning method with a follow-the-leader...
A new method to filter jump edges in the range images produced from Time-of-Flight (ToF) camera is described, implemented and evaluated. SwissRanger camera like any other ToF camera have systematic and non-systematic errors. Systematic errors are predictable and can often be removed by calibration, whereas non-systematic are unpredictable and removed by applying filters. Jump edges are non-systematic...
In an object search scenario with several small objects spread over a large indoor environment, the robot cannot infer about all of them at once. Pruning the search space is highly desirable in such a case. It has to actively select a course of actions to closely examine a selected set of objects. Here, we model the inferences about far away objects and their viewpoint priors into a decision analytic...
Complex tasks are often handled through software implementation in combination with high performance processors. Taking advantage of hardware parallelism, FPGA is breaking the paradigm by accomplishing more per clock cycle with closely matched application requirements. With the aim to minimise computation delay with increase in map's size and geometric constraints, we present the FPGA based combinatorial...
We present a real-time visual-based road following method for mobile robots in outdoor environments. The approach combines an image processing method, that allows to retrieve illumination invariant images, with an efficient path following algorithm. The method allows a mobile robot to autonomously navigate along pathways of different types in adverse lighting conditions using monocular vision. To...
In this paper, we present a holistic approach to enable mobile robots using video projection in a situation aware and dynamic way. Therefore, we show how to autonomously detect wall segments that are suitable to be used as projection target in a dynamic environment. We derive several quality measures to score the wall segments found in the local environment and show how these scores can be used by...
People tracking is a key perception skill for mobile robots designed to share environments with human beings. It allows the robot to keep track of people around them, which is fundamental for two main reasons: safety and social interaction. This paper presents the work done on people tracking with the REEM robot after two years of paticipation at the RoboCup@home challenge. The main contribution of...
Semantic mapping is the incremental process of “mapping” relevant information of the world (i.e., spatial information, temporal events, agents and actions) to a formal description supported by a reasoning engine. Current research focuses on learning the semantic of environments based on their spatial location, geometry and appearance. Many methods to tackle this problem have been proposed, but the...
In this paper we present a method for calculating inertial motion feedback in a teleoperation setup. For this we make a distinction between vehicle-state feedback that depends on the physical motion of the remote vehicle, and task-related motion feedback that provides information about the teleoperation task. By providing motion feedback that is independent of vehicle motion we exploit the spatial...
This paper addresses the problem of designing an efficient exploration strategy for multiple mobile agents. As an exploration strategy, an intelligent waypoint generation is considered, where the trajectory of the agent is governed by the properties of the explored phenomenon. Here it is assumed that the explored field is sparse in it's spatial distribution; consequently, it is assumed that a certain...
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