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Spatial point process models are a commonly-used statistical tool for studying the distribution of objects of interest in a domain. We study the problem of deploying mobile robots as remote sensors to estimate the parameters of such a model, in particular the intensity parameter λ which measures the mean density of points in a Poisson point process. This problem requires covering an appropriately...
In almost every engineering curriculum, an introductory engineering course to enlighten students knowledge on the different engineering disciplines is offered for the freshman students. To better describe the engineering majors and increase students interest, practical projects are often requested to complement the theoretical lectures and concepts covered in these classes. In here we present a robotic-based...
In this paper, we have proposed a novel localization algorithm for small size transport vehicle with the Short Range of the UHF RFID technology and the wheels odometry that are fused by Sequential Importance Resampling Particle Filter(SIR PF) Instead of the HF RFID because HF RFID have a problem that is a limitation of the moving speed of the mobile robots, so to solve the such problem we used for...
In this paper, the LEGO mobile robot separating the main body and the peripheral task kits is successfully constructed using by the 3D modeling software and by the hierarchical design method from top to bottom, with LEGO mechanical hardware as body, Lego servo motor as actuator, Lego color sensors as the detection device, Lego EV3 as main controller. The hardware performances of the LEGO mobile robot...
This paper considers firstly the development and deployment of the infrastructure to emulate and to verify the behavior of stop-and-go waves present on highways based on mOway mobile robots. Secondly, the paper illustrates the way to find a solution to mitigate the stop-and-go waves, by implementing and testing in simulation and in real-time different control strategies. Radio Frequency communications...
The main focus of this paper is obtaining a fuzzy perception of the environment in the design of each reactive behavior and solving the problem of behavior combination to implement a fuzzy behavior based control architecture. It should be remarked that, the proposed technique of the nonholonomic constraints are considered in the design of each behavior. Furthermore, in order to improve the capabilities...
The process that use automatic guided vehicle (AVG) in its architecture suffer with the lack of flexibility of some of these devices. The control, navigation and interaction with the working inviroment of AGV are indispensable processes for material handling in a Flexible Manufacturing System. The prospect of using an optical sensor as an economical yet efficient alternative sensor for AG navigation...
Autonomous vehicles require advances sensing technologies, in order to be able to safely share the environment with human operators. Those sensing technologies are in fact necessary for identifying the presence of unforeseen objects, and measuring their position and velocity. Furthermore, classification is necessary for effectively predicting their behavior. In this paper we consider the presence...
This paper reports on an algorithm to support autonomous vehicles in reasoning about occluded regions of their environment to make safe, reliable decisions. In autonomous driving scenarios, other traffic participants are often occluded from sensor measurements by buildings or large vehicles like buses or trucks, which makes tracking dynamic objects challenging.We present a method to augment standard...
In this paper, velocity estimation method for caster odometers is proposed. Caster odometer is a sensor of travel distance and attitude angle using caster mechanism that has two-degree of rotational freedoms. We calculate velocities of a vehicle utilizing the output measured by caster odometers, however, the caster mechanism has nonlinearity component. To deal with the nonlinearity of the caster mechanism,...
This paper proposes a global navigation strategy for autonomous vehicle combining sensor based control and digital maps information. In order to avoid localization problems in urban environments, this approach intends to solve the global navigation focusing on two local navigation tasks: road lane following and road intersection maneuvers. For that, it is important to use digital maps, once they provide...
This paper deals with design of hybrid software and hardware sensor, which can be used for mobile robots visual odometry task. The paper is focused to sensing raw data only. This approach combines onboard hardware sensors - accelerometer, gyroscope, magnetometer and camera with software module, which is mainly based on computer vision. Output from vision system is relative change of position and rotation...
The abrupt and frequent change of a path for autonomous vehicle might occur in the presence of position uncertainty due to sensor noises or errors in localization. While path planning of an autonomous vehicle utilize multiple sensors to generate the path, it is necessary to not only reduce such errors but also to plan a consistent path. Therefore, we propose a framework that can generate a stable...
The PVC-ROV underwater robot testbed is a low-cost, three vehicle system designed to support research into multi-robot control techniques. Each vehicle is composed of a PVC frame with bilge-pump motors, a central microcontroller, and hobby-class sensing and power components. In addition, each vehicle is tethered to a surface buoy by a 15 meter tether and wirelessly exchanges data with an off-board,...
Domestic grazing animals follow simple, scalable rules to assign themselves trajectories to cover a pasture. We explain how to adapt these rules for an information gathering system based on a realistic robot motion model and Kalmanfilter based evidence grid that accounts for both bandwidth and sensor limitations. Our results show that this algorithm can meet or exceed the performance of state of the...
This paper describes the hardware and software components of a general-purpose humanoid robot system for autonomously driving several different types of utility vehicles. The robot recognizes which vehicle it is in, localizes itself with respect to the dashboard, and self-aligns in order to interface with the steering wheel and accelerator pedal. Low- and higher-level methods are presented for speed...
Recent developments in centralized ICT architectures have realized the abstraction of hardware and communications functionality into software within for of highly assisted and autonomous vehicles. This development requires a data-centric approach to the integration and fusion of sensory information within the vehicle. We address this requirement through utilizing a hierarchical framework of intelligent...
In this paper, we propose a control law for navigating a robot along the boundary of a stationary obstacle, where the only sensor information available is the minimum distance to the obstacle. Using a particle filter, the curvature profile of the obstacle around the observed point is estimated on-line. Safety is ensured by performing local path planning inside an area guaranteed to be safe. The method...
We consider the synthesis of control policies over partially observable Markov decision processes with linear temporal logic specifications. We limit the search of policies over finite state controllers of a fixed size which leads to a Markov chain with free parameters, over which the probability of satisfaction of the specification can be maximized.
This study illustrates a methodology to reduce the time and effort spent on full-scale Intelligent Transportation System testing, through the use of small-scale testbeds. Scaled down testing platforms enable the researchers to implement, compare, and assess different architectures for intelligent transportation by deploying hardware-in-the-loop (HIL) simulation and testing, giving strong indications...
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