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This paper is about underpinning long-term operations of fleets of vehicles using visual localisation. In particular it examines ways in which vehicles, considered as independent agents, can share, update and leverage each others' visual experiences in a mutually beneficial way. We draw on our previous work in Experience-based Navigation (EBN) [1], in which a visual map supporting multiple representations...
We address the important problem of achieving robust and easy-to-deploy visual state estimation for micro aerial vehicles (MAVs) operating in complex environments. We use a sensor suite consisting of multiple cameras and an IMU to maximize perceptual awareness of the surroundings and provide sufficient redundancy against sensor failures. Our approach starts with an online initialization procedure...
In this paper, we consider the two dimensional (2-D) predecessor-following control problem for a platoon of unicycle vehicles moving on a planar surface. More specifically, we design a decentralized kinematic control protocol, in the sense that each vehicle calculates its own control signal based solely on local information regarding its preceding vehicle, by its on-board camera, without incorporating...
We present a behavioral approach for autonomous robotic exploration of marine habitat with collision avoidance given little or no prior information. In our previous work, a vision-based reactive navigation paradigm with a predefined forward direction allowed an underwater robot to avoid unexpected obstacles. In this work, we have now incorporated visual perceptive invariants to guide the navigation...
This paper presents a generalised framework of an image based visual servoing of an articulated arm which has to be deployed inside a simulated Tokamak vessel environment. First wall tiles of the vessel idealised as rectangular grids on a surface are inspected and an attempt is made to replace the damaged tiles with a tile-screwing gripper mechanism. The mechanism of gripper provides compactness and...
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...
This paper presents a methodology for reducing error in large rotation using an omnidirectional camera based on bundle adjustment technique. One of the most traditional problems of motion estimation method is accumulative error. The advantage of omnidirectional camera is that allows tracking landmarks in large rotation and long travel. The minimal error is applied on set of sequent images so that...
Inspection and exploration of complex underwater structures requires the development of agile and easy to program platforms. In this paper, we describe a system that enables the deployment of an autonomous underwater vehicle in 3D environments proximal to the ocean bottom. Unlike many previous approaches, our solution: uses oscillating hydrofoil propulsion; allows for stable control of the robot's...
This paper applies an existing vision-based navigation algorithm to a micro aerial vehicle (MAV). The algorithm has previously been used for long-range navigation of ground robots based on on-board 3D vision sensors such as a stereo or Kinect cameras. A teach-and-repeat operational strategy enables a robot to autonomously repeat a manually taught route without relying on an external positioning system...
A stabilization and control technique developed for steering swarms of unmanned micro aerial vehicles is proposed in this paper. The presented approach based on a visual relative localization of swarm particles is designed for utilization of multi-robot teams in real-world dynamic environments. The core of the swarming behaviour is inspired by Reynold's BOID model proposed for 2D simulations of schooling...
Ego-localization is a key issue for most autonomous robots and vehicles. Indeed, the ability to take a proper decision (avoidance, path-finding, etc.) relies on the knowledge of one's particular environment on one hand and on its relative positioning in this environment on the other hand. As such, this issue has been addressed multiple times in the past few years. This work extends a multi-sensor...
We present a real-time system that enables a highly capable dynamic quadruped robot to maintain an accurate 6-DOF pose estimate (better than 0.5m over every 50m traveled) over long distances traversed through complex, dynamic outdoor terrain, during day and night, in the presence of camera occlusion and saturation, and occasional large external disturbances, such as slips or falls. The system fuses...
This paper investigates the formulation of sensor based control for aerial robotic vehicles based on the port Hamiltonian framework. The paper considers the particular case of vision based control and develops a model for an “infinite dimensional” visual energy port that uses optical flow in the image plane as a ‘velocity’ in the port Hamiltonian formalism.
We present MARE, an autonomous airboat robot that is suitable for exploration-oriented tasks, such as inspection of coral reefs and shallow seabeds. The combination of this platform's particular mechanical properties and its powerful software framework enables it to function in a multitude of potential capacities, including autonomous surveillance, mapping, and search operations. In this paper we...
The near future will see production vehicles equipped with intelligent Advanced Driving Systems using various sensor modalities. Meanwhile, other aspects such as Vehicle-to-Vehicle (V2V) communications have emerged as means of assisting drivers. We propose a framework (V2Eye) in which V2V augments and extends the range of visual sensors in ways that have yet to be explored.
Human-robot communication is a complex problem even in the terrestrial domain. Failure to properly communicate instructions to a robot and receive appropriate feedback can at the very least hamper the ability of the robot to perform its task, and at worst prevent the task from being completed. The problem of providing effective communication between a robot and its operator becomes even more complex...
Unmanned aerial vehicles (UAVs) are seeing more widespread use in military, scientific, and civilian sectors in recent years. This study presents algorithms for the visual-servo control of an UAV. The helicopter has been stabilized with visual information through the control loop. Unlike previous study that use pose estimation approach which is time consuming and subject to various errors, the visual-servo...
In this paper, we present algorithms and display concepts that allow Soldiers to efficiently interact with a robotic swarm that is participating in a representative convoy mission. A critical aspect of swarm control, especially in disrupted or degraded conditions, is Soldier-swarm interaction-the Soldier must be kept cognizant of swarm operations through an interface that allows him or her to monitor...
Underwater operations present unique challenges and opportunities for robotic applications. These can be attributed in part to limited sensing capabilities, and to locomotion behaviours requiring control schemes adapted to specific tasks or changes in the environment. From enhancing teleoperation procedures, to providing high-level instruction, all the way to fully autonomous operations, enabling...
This paper presents a program of research embracing teleoperator and automatic navigational control of freely-flying satellite robots. Current research goals include developing visual operator interfaces for improved vehicle teleoperation; determining the effects of different visual interface system designs on operator performance; and achieving autonomous, vision-based vehicle navigation and control...
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