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This paper presents an approach of human-vehicle cooperative navigation system as an implementation of Advanced Driving Assistance Systems (ADAS). The driver-in-the-loop system contains commands by a human driver, which are verified and corrected by the interactive navigation algorithm based on Image-based Dynamic Window Approach (IDWA). Several autonomous driving components are involved including...
Unmanned Aerial Vehicles are currently investigated as an important sub-domain of robotics, a fast growing and truly multidisciplinary research field. UAVs are increasingly deployed in real-world settings for missions in dangerous environments or in environments which are challenging to access. Combined with autonomous flying capabilities, many new possibilities, but also challenges, open up. To overcome...
In order to fully exploit the capabilities of a robotic systems, it is necessary to consider the limitations and errors of actuators and sensors already during the motion planning phase. In this paper, a framework for path planning is introduced, that uses heuristic search to build up a search graph in belief space, an extension to the deterministic state space considering the uncertainty associated...
We develop new fundamental methodologies for high performance and provably safe autonomous and collaborative control and operation of autonomous unmanned aerial systems (UAS) in the national airspace (NAS), where both UAS and manned aircraft fly. The proposed framework is model-based, and emphasizes multiple scales in time and space as well as hybrid systems mathematics to capture both the analog...
Research in robot navigation usually concentrates on implementing navigation algorithms that allow the robot to navigate without human aid. In many real world situations, it is desirable that the robot is able to understand natural gestures from its user or partner and use this understanding to guide its navigation. Some algorithms already exist for learning natural gestures and/or their associated...
Mobile surveillance systems include a vast array of mobile sensing nodes with varying sensing modalities that can sense continuously the volume of interest. These distributed nodes are capable of sensing, processing, mobilization and communication with other nodes. One of the fundamental problems of mobile surveillance systems is how to assign a set of tasks to a set of mobile sensors and how to coordinate...
This paper describes the path planning for the mobile robots, based on the Markov decision problems and the detection of dynamic objects using stereo-vision. The presented algorithms are developed for resolving problems with partially observable states. The algorithm is applied in an office environment and tested with a skid-steered robot. The created map combines two mapping theory, the topological...
This paper addresses the problem of estimating the odor path which is most likely taken by the odor patch detected by the concentration sensor on a mobile robot moving in an indoor dynamic airflow environment. The odor path estimation is useful for plume tracing and odor source declaration. A novel algorithm for odor path likelihood mapping in the dynamic airflow environment is proposed. The algorithm...
We present robust localization algorithm using particle filter for mobile robots. The blueprint of building that cannot completely represent the real environment or a simple map of environment can be used in this work. With this incomplete information, it will not be easy to estimate the pose of robots because un-modeled obstacles will make the sensor observation inconsistent. Proposed algorithm provides...
Utilizing the advantages of wireless sensor network (WSN), this paper puts forward a novel dynamic obstacle avoidance algorithm used in unknown complex environment, which is a fundamental problem and important research area of mobile robots. In view of moving velocity and direction of both the obstacles and robots, a mathematic model is built based on the exposure model, exposure direction and critical...
For target tracking in Interference Environments of cognitive radar problem, Extended Karman, Particle filter algorithms etc. are generally used to be regarded as usual solutions to state estimation. Many techniques have been developed to improve performance of target tracking. In this paper, we set the structure and key features of target's tracking design for cognitive radar, and newly propose cognitive...
A principal factor in sensor network design is energy efficiency. In this work, we propose to extend the lifetime of sensor networks using appropriate choice of sensor node distribution. The key idea of our scheme is to deploy more nodes in areas of extensive energy usage. Using this scheme of sensor node distribution, we use probabilistic angular routing to route data packets from the sensor nodes...
This paper proposes a new localization algorithm for a fast-moving mobile robot, which utilizes only one beacon and the global features of the differential-driving mobile robot. It takes a relatively long time to localize a mobile robot with active beacon sensors, since the distance to the beacon is measured by the freight time of the ultrasonic signal. When the mobile robot is moving slowly, the...
Autonomous robot navigation is an important research field because these robots can solve problems where the human presence is impossible, dangerous, expensive, or uncomfortable. In this paper, a new hybrid autonomous navigation method is introduced. The algorithm is composed of visibility graph based global navigation and simple potential field based local navigation parts. It applies a new automated...
This paper presents a decentralized control algorithm for swarm of robots based on geometric approach. Our objective is to build a swarm that can demonstrate collective behavior. The control algorithm, which is executed by all the members of the swarm, is presented in details. Our simulation results show that group behaviors such as aggregation, obstacle avoidance and flocking are achieved successfully.
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