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Visual landmark tracking represents a major problem due to occlusion, illumination variations and affine transformations between subsequent images. A desired goal for several mobile robot applications is to increase a steady state in the invariants in order to minimize errors in the tracking. This manuscript consists of two parts. The first part presents a quantitative analysis of stability tracking...
In this article we present an approach to improve the execution time of the Markov decision process (MDP) used in robotics for path planning. We've improved it for both value iteration algorithms (value iteration) and Policy Iteration (policy iteration). Unlike the conventional approach which initializes the algorithms with random values and explores all the accessible states at each iteration, our...
In this abstract, we mention some challenges and preliminary solutions toward designing robotic software with verifiable safety. We use a 2D planar robot as example, which has an arm with fixed or moving base. Also, computational stereo for precise (or imprecise) location of the object or obstacle is assumed. Our simple scenario is to perform object retrieval, but safety requirements should be assured,...
Human beings do not have well defined shapes neither well defined behaviors. In dense outdoor environments, they are as a consequence hard to detect and algorithms based on a single sensor tend to produce lot of wrong detections. Moreover, many applications require algorithms that work very fast on CPU limited mobile architectures while remaining able to detect, track and classify objects as people...
Simultaneous localization and mapping (SLAM) problem has caused wide concern in the robotics research. The active SLAM algorithm based on extended Kalman filter (EKF) is considered as an important method. To validate and analyze the active SLAM algorithm performance, a simulation system is designed and developed, which makes use of the MATLAB platform as computation engine and properly displays the...
With the fast development of robotics and intelligent vehicles, there has been much research work on modeling and motion control of autonomous vehicles. However, due to model complexity, and unknown disturbances from dynamic environment, the motion control of autonomous vehicles is still a difficult problem. In this paper, a novel self-learning path-tracking control method is proposed for a car-like...
The use of a symbolic model of the spatial environment becomes crucial for a mobile robot that is intended to operate optimally and intelligently in indoor scenarios. Constructing such a model involves important problems that are not solved completely at present. One is called anchoring, which implies to maintain a correct dynamic correspondence between the real world and the symbols in the model...
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