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Summary Resources consumption control is crucial in the autonomous rover context. Most of the time, the resources consumption is probabilistic. During execution time, the rover has to adapt its resources consumption, in order to keep more resources for important tasks or avoid to fail. Progressive processing is a model that describes tasks that can be performed in several ways. Therefore, it allows...
Summary A benchmarking facility for snake robot locomotion is presented, including the design of a snake-like robot extended with a sensor setup combining three-dimensional vision and an array of force sensors to register friction and impulse forces. A surrounding, modular environment consisting of a reconfigurable obstacle course and a ceiling mounted camera system is also presented. This enables...
Summary It is usually expected that the intelligent controlling mechanism of a robot is a computer system. Research is however now ongoing in which biological neural networks are being cultured and trained to act as the brain of an interactive real world robot – thereby either completely replacing or operating in a cooperative fashion with a computer system. Studying such neural systems can give a...
Summary Robustness is pivot for robots operating in all-terrain environments. This demand comes mainly due to the highly heterogeneous and unstructured nature of the terrain. Two particular topics are sensitive to this problem: locomotion control and wheel odometry. A behaviour-based approach is proposed for the locomotion control system, whereas a heuristic exploiting the kinematic and dynamical...
Summary This article investigates the scenario where a small team of robots needs to explore a hypothetical disaster site. The challenge faced by the robot-team is to coordinate their actions such that they efficiently explore the environment in their search for victims. A popular paradigm for the exploration problem is based on the notion of frontiers: the boundaries of the current map from...
Summary This paper presents an approach to create POMDP models, used for decision making by an autonomous service robot, from background knowledge. This allows the power of POMDP decision making to be applied on multimodal service robots with quite distinct stochastic dynamics in different modalities and a generally high model complexity. The two tiered approach presented allows both fine grained...
Summary Modeling the environment is crucial for a mobile robot. Common approaches use Bayesian filters like particle filters, Kalman filters and their extended forms. We present an alternative and supplementing approach using constraint techniques based on spatial constraints between object positions. This yields several advantages: a) the agent can choose from a variety of belief functions, b) the...
Summary This paper presents the development of a mini unmanned aerial vehicle (UAV) with wingspan of 2.5 m. A flight control system is constructed using small and light components. The logical interconnection and schematic layout of the Automatic Flight Control are presented. The UAV has been successfully tested carrying a high resolution camera, and was able to acquire the images and the video of...
Summary The increasing complexity of humanoid robots and their expected performance in real dynamic environments demand an equally complex, autonomous and dynamic solution. Our approach for the creation of real autonomy in artificial systems is based on the use of nonlinear dynamical systems. The purpose of this research is to demonstrate the feasibility of using coupled chaotic systems within the...
Summary In this work, decentralized formation control of a multi vehicle system is investigated. Each vehicle model considers kinematic constraints of differential drives which is a principal approach for various application for mobile robotics in 2D space. A virtual leader is assigned to navigate the whole cluster in a certain formation via predefined paths. Each vehicle produces its own control...
Summary The localization of mobile robots has been studied rigorously in the past. However, only a few studies have focused on developing specific Genetic Algorithms (GAs) to address the localization problem effectively. In this study; the global urban localization of an outdoor mobile platform is considered with the utilization of the odometer, the laser-rangeq finder measurements and the digital...
Summary In this paper, we propose a force control method for robot grippers based on the degree of slippage using vision-based tactile sensor. Our tactile sensor consists of a CCD camera, LED lights, an acrylic plate and a spherical elastic body. The feature of this sensor is to measure “stick ratio”, which indicates the degree of slippage between a robot gripper and a grasped object. The stick ratio...
Summary Researchers in robotics agree that control architectures must be reactive, modular, standardized, reliable, and should allow the use of multiple functions. In the last few years, the open challenges organized by the DARPA have shown that robustness can be obtained and that real autonomous systems can be built. We conducted an analysis of several control architectures, and especially of those...
Summary The paper presents the Information Relative Map algorithm for solving SLAM. Instead of estimating directly the relative quantities as in other relative mapping approaches, the proposed algorithm estimates the canonical quantities, the information vector and information matrix, using the Information filter. The estimation algorithm has constant time complexity without any approximation or linearization...
Summary This paper addresses the measurement of motion expressiveness in wheeled mobile robots. A neural network based supervised learning strategy is proposed as a method to fuse information obtained from the measurement of selected features. The choice of these features is made to reflect the visual quality of the trajectory and hence carries semantic ambiguities that are filtered out through...
Summary The paper presents some results in development of a jumping robot. Our research is conducted into the problem of changing mechanical impedance of driving system and its influence on features of a jump. After theoretical analysis and Matlab based simulations we have built a virtual model of a planar jumping robot with pneumatic driving system. The Working Model 2D (WM2D) software was employed...
Summary This paper presents experimental results acquired from the implementation of an adaptive control scheme for nonholonomic mobile robots, which was recently proposed by the same authors and tested only by simulations. The control system comprises a trajectory tracking kinematic controller, which generates the reference wheel velocities, and a cascade dynamic controller, which estimates the robot’s...
Summary This paper presents two major components of an automatic parking assist system (APAS). The APAS maps the environment of the vehicle and detects the existence of accessible parking place where the vehicle can park into. The two most important tasks the APAS must then realize are the design of a feasible path geometry and the tracking of this reference in closed loop such that the longitudinal...
Summary Active snake contours are considered for representing the maps of an environment obtained by different ultrasonic arc map (UAM) processing techniques efficiently. The mapping results are compared with the actual map of the room obtained with a very accurate laser system. This technique is a convenient way to represent and compare the map points obtained with different techniques among themselves,...
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