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Automatic detection and description of events, particularly human behavior, is one of the most challenging issues, since event interpretation is highly dependent on the target of attention, which is not uniquely specified. In order to tackle this problem, we propose the concept of a “Cognitive Ontology” as a framework for a system that can automatically decide the attention focus and describe the...
The purpose of this paper is to clarify the internal phase correction mechanisms for timing control in a synchronization tapping task. Here, the synchronization error (SE) is directly controlled using our experimental method, and its response is measured as the temporal development of the inter tap onset interval (ITI). As a result, two types of internal phase correction mechanism are revealed. The...
Robot software framework using object and aspect oriented programming paradigm is proposed. The object oriented programming paradigm is used to cope with reusability and extensibility of a robot software system. The aspect oriented programming paradigm is used to cope with cross-cutting concerns in robot tasks. The knowledge for concerned objects is built into the objects themselves, but the knowledge...
This paper describes a context model based on functionalist considerations to be used in context-aware distributed artificial systems, such as robots in smart environments. The proposed framework, which is aimed at integrating ontology and logic approaches to context modeling, assumes the availability of both an ontology and a simple mechanism for performing inferences. The context model is formally...
The article shows that the Random Walk and Edge Counting algorithms allow to solve – under some constraints – the Multi-Robot Uniform Frequency Coverage problem, i.e., the problem of repeatedly visiting a set of locations in the environment with uniform frequency. Both algorithms have extremely low requirements in terms of computational power and memory storage, and do not require inter-robot communication...
Distributed algorithms running on multi-robot systems rely on ad-hoc networks to relay messages throughout the group. The propagation speed of these messages is large, but not infinite, and problems in algorithm execution can arise when the robot speed is a large fraction of the message propagation speed. This defines a robot “speed limit”, as any robot moving away from a message source faster than...
A great deal of information and traffic circulate over the complex and largescale networks. Such examples abound in an airline route or road map, and the Internet web[1]. These are important social infrastructures and hence desired to possess sufficient resilience against an unpredictable breakdown in order to maintain the expected function. Including redundant nodes and links to the network is expected...
This paper considers the problem of mobile target tracking, in which a pursuer robot has to capture a mobile target with the aid of multiple wireless relay robots. We assume that the relay robots are able to self-organize to form an ad hoc robotic network when a tracking event is triggered, and act as static multihop relays to disseminate the latest target trajectory they detect to the pursuer. The...
This paper deals with a cooperative object tracking with mobile robotic sensor network. The occlusion problem, which is one of the most important problems of mobile object tracking, will be solve with utilizing the mobile robotic sensor network. Additionally, the high quality information of the object can be observed, since the robotic sensor network can change observation formation their own way...
This paper describes an information gathering system for indoor environment using a wireless sensor network (WSN) and a mobile robot, which is assumed to be applied in disaster areas. In this system, the mobile robot carries sensor nodes and deploys them onto the ground with measuring electric field strength, thereby enabling the WSN to be constructed and managed adaptively. When the WSN is disconnected...
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