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Summary Foot groping is one way to evaluate the stability of footholds for legged locomotives on rough terrain. For further acquisition of ground information, we installed active ankles with two active joints on the experimental quadruped vehicle, RoQ2. To compensate the loss of passive adaptation of ankles to terrain, active adaptation using COF estimation is implemented. COF is a center of pressure...
Summary A technique for identifying lumped soil parameters on-line while traversing with a tracked unmanned ground vehicle (UGV) on an unknown terrain is presented. This paper shows the multi-solution problem when identification of soil parameters — cohesion (c), shear deformation modulus (φ), and shear deformation modulus (K) are to be attempted using the track-terrain interaction dynamics model...
Summary The intent of this paper is to show how the accuracy of 3D position tracking can be improved by considering rover locomotion in rough terrain as a holistic problem. An appropriate locomotion concept endowed with a controller minimizing slip improves the climbing performance, the accuracy of odometry and the signal/noise ratio of the onboard sensors. Sensor fusion involving an inertial measurement...
Summary In the near future, off-road mobile robots will feature high levels of autonomy which will render them useful for a variety of tasks on Earth and other planets. Many terrestrial applications have a special demand for robots to possess similar qualities to human-driven machines: high speed and maneuverability. Meeting these requirements in the design of autonomous robots is a very hard problem,...
Summary This paper describes an algorithm that tracks and localizes a helicopter using a ground-based trinocular camera array. The three cameras are placed independently in an arbitrary arrangement that allows each camera to view the helicopter’s flight volume. The helicopter then flies an unplanned path that allows the cameras to self-survey utilizing an algorithm based on structure from motion and...
Summary Performing reliable localisation and navigation within highly unstructured underwater coral reef environments is a difficult task at the best of times. Typical research and commercial underwater vehicles use expensive acoustic positioning and sonar systems which require significant external infrastructure to operate effectively. This paper is focused on the development of a robust vision-based...
Summary Awareness of pedestrians, other vehicles, and other road obstacles is key to driving safety, and so their detection is a critical need in driver assistance research. We propose using a model-based approach which can either directly segment the disparity to detect obstacles or remove the road regions from an already segmented disparity map. We developed two methods for segmentation: first,...
Summary In this paper, we present a new adaptation of the regular polygon detection algorithm for real-time road sign detection for autonomous vehicles. The method is robust to partial occlusion and fading, and insensitive to lighting conditions. We experimentally demonstrate its application to the detection of various signs, particularly evaluating it on a sequence of roundabout signs taken from...
Summary Autonomous navigation using natural landmarks in an unexplored environment is a very difficult problem to handle. While there are many techniques capable of matching pre-defined objects correctly, few of them can be used for real-time navigation in an unexplored environment. One important unsolved problem is to efficiently select a minimum set of usable landmarks for localisation purposes...
Summary We present a biologically inspired active vision system that incorporates two modes of perception. A peripheral mode provides a broad and coarse perception of where mass is in the scene in the vicinity of the current fixation point, and how that mass is moving. It involves fusion of actively acquired depth data into a 3D occupancy grid. A foveal mode then ensures coordinated stereo fixation...
Summary This paper presents a data-fusion and interpretation system for operation of an Autonomous Ground Vehicle (AGV) in outdoor environments. It is a practical implementation of a new model for machine perception and reasoning, which has its true utility in its applicability to increasingly unstructured environments. This model provides a cohesive, sensor-centric and probabilistic summary of the...
Summary We propose a principled method to create a search space for constrained motion planning, which efficiently encodes only feasible motion plans. The space of possible paths is encoded implicitly in the connections between states, but only feasible and only local connections are allowed. Furthermore, we propose a systematic method to generate a near-minimal set of spatially distinct motion alternatives...
Summary This paper discusses some issues for generating points of contact on object grasping by multifingered robot hands. To address these issues, we present a general algorithm based on computer vision techniques for determining grasping points through a sequence of processes: (1) object’s visual features, we apply some algorithms for extracting vertices, edges, object’s contours, (3) modeling the...
Summary A key aspect of service robotics for everyday use is the motion in close proximity to humans. It is essential that the robot exhibits a behavior that signals safety of motion and awareness of the persons in the environment. To achieve this, there is a need to define control strategies that are perceived as socially acceptable by users that are not familiar with robots. In this paper a system...
Summary Motion prediction for objects which are able to decide their trajectory on the basis of a planning or decision process (e.g. humans and robots) is a challenging problem. Most existing approaches operate in two stages: a) learning, which consists in observing the environment in order to identify and model possible motion patterns or plans and b) prediction, which uses the learned plans in order...
Summary In this paper we propose an innovative robot remote control method, a synthesized scene recollection method, which provides the operator with a bird’seye view image of the robot in an environment which is generated by using position and orientation information of the robot, stored image history data captured by a camera mounted on the robot, and the model of the robot. This method helps the...
Summary In this paper, a newly initiated project of networked robotic system for disaster mitigation is introduced. In this project, multiple robots are coordinately operated through ad-hoc wireless communication network, including satellite-based IP communication link, for surveillance tasks at a disaster site. The robot system consists of a large-scale outdoor robot to serve as a carrier of small...
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