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In the modern arena, most of the accidents are caused by drunken driving and driving under the influence (DUI). Drunk driving is the only one reason behind most of the unnatural deaths in the world. In this paper, Novel based IOT (Internet of Things) module is proposed to protect the people from unnecessary deaths caused by road accidents due to drunken driving. The Proposed system makes use of the...
In this paper design and testing of a solar powered autonomous vehicle which navigates in the presence of obstacles is presented. Obstacle avoidance is the most crucial task of an autonomous system. Hence any autonomous vehicle should have the capability to perform sudden maneuvers when an obstacle is detected. The vehicle has a sensor which estimates the distance at which the obstacle is present...
High resolution 3D mapping of road systems is currently being carried out by expensive Mobile Mapping Systems (MMS) but coverage is limited. Recently Low Cost Sensor (LCS) systems have been developed which use common, low cost, internal MEMS position sensors from mobile phones, but such sensors come with a reduced absolute and relative positional accuracy. This study investigates the registration...
This paper addresses the positive consensus problem for a homogeneous multi-agent system, by assuming that the agents' dynamics is described by a positive single-input and continuous-time system. We first provide a necessary condition for the problem solvability that refers to the Frobenius normal form of the Metzler matrix describing the agents' unforced evolution. This result imposes quite significant...
This paper presents a solution to the rendezvous control problem for a network of unicycles on the plane. A smooth, time-invariant control law is presented that drives the unicycles to a common position from arbitrary initial conditions. Each unicycle is equipped with an onboard camera and can measure its relative displacement to its neighbors in body frame. The feedback is a function only of these...
Mobile wireless ad hoc network (MANET) becomes increasingly popular in responding to emergency situation. In this paper a possibility to support rescue team in monitoring heavy gas cloud with MANET comprised of mobile sensing devices is investigated. In the view of the current state of research, two methods for controlling mobile sensing devices during MANET self-organization are presented. The first...
In this study, model-referenced pose estimation using monocular vision is applied to the navigation of an underwater vehicle in an underwater environment. The relative spatial information between the vehicle and the nearby underwater structure is obtained by employing 3D model-referenced tracking techniques. The obtained relative pose enables the underwater robot to localize around the underwater...
It is still hard mission for human divers or robotic systems to investigate complex underwater environments, composed of several turning points and rooms. This paper explains a design of the Autonomous Underwater Vehicle (AUV) for marking physical and visible path logs in water. Then, it will make the repeated exploration easier. For the solution of underwater marking, we chose to use paraffin wax...
This paper proposes the use of path planning algorithms for AUVs in applications where the robot needs to adapt online its trajectory for inspection or safety purposes. These algorithms generate trajectories under motion constraints, which can be followed without deviations, to ensure the safety even when passing close to obstacles. View planning algorithms are also combined to decide the movements...
The emergence of urban search and rescue robotics (USAR) as a field of research is largely attributed to the failure of robots in the field thus far. Existing platforms are unable to fulfill the task of finding survivors because they are expensive, specialized, and require a very long lead time to construct and use. Further, they cannot be localized once a survivor is found. This project seeks to...
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...
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...
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...
We investigated different dense multirotor UAV traffic simulation scenarios in open 2D and 3D space, under realistic environments with the presence of sensor noise, communication delay, limited communication range, limited sensor update rate and finite inertia. We implemented two fundamental self-organized algorithms: one with constant direction and one with constant velocity preference to reach a...
This paper focuses on a real system implementation, analysis, and evaluation of a cooperative sensor fusion algorithm based on a Gaussian Mixture Probability Hypothesis Density (GM-PHD) filter, using simulated and real vehicles endowed with automotive-grade sensors. We have extended our previously presented cooperative sensor fusion algorithm with a fusion weight optimization method and implemented...
This paper presents a control algorithm that steers a robotic walking assistant along a planned path using electromechanical brakes. The device is modeled as a Dubins' car, i.e., a wheeled vehicle that moves only forward in the plane and has a limited turning radius. In order to reduce the cost of the hardware, no force sensor is employed. This feature hampers the application of control algorithms...
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...
Hovering is an indispensable function of helicopters for the tasks on uneven terrain. But hovering is dangerous and needs high control technique of the operator and a large amount of fuel. Therefore, we have been proposed Leg Type landing gear system for aerial vehicles that can adapt to uneven terrain as a substitute for hovering. We named this automatic landing system on uneven terrain ALS. In this...
This paper considers the problem of sensor attack detection for multiple operating mode systems, building upon an existing attack detection method that uses a transient fault model with fixed parameters. For a multiple operating mode system, the existing method would have to use the most conservative model parameters to preserve the soundness in attack detection, thus not being effective in attack...
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