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Route guidance and navigation services have been widely attracting researchers and application developers due to the serious problems of traffic congestion and the ceaseless need to improve the driving experience. Motivated by such driving concerns, this paper proposes a real-time, dynamic route guidance system with the main focus on the driver safety and satisfaction. As a unique feature compared...
The increasing level of commercial marine activity in high latitudes creates an ever growing risk of oil spills. Even in logistically accessible, ice-free oceans, characterizing the extent and nature of a spill can be challenging as highlighted by the Deepwater Horizon incident. We propose to develop an AUV-based approach inspired by an existing small, long-range system, called the Tethys Long-Range...
Global demand for air travel has increased significantly by the emerging economics. However, the Flight accident is major threat to human life. On many occasions the accident happened when aircraft fly over the ocean, because 71% of the Earth's surface is covered by ocean. This paper describes a proposal to develop full automated underwater vehicle system for Search and Rescue (SAR) application within...
Both safety and non-safety applications of vehicular networks rely on accurate position information. However, accurate localization of a vehicle in a global navigation satellite system (GNSS) denied environment is a challenging and still open research problem. The 802.11p dedicated short-range communication systems (DSRC), designed for vehicle-to-vehicle and vehicle-to-infrastructure communications,...
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...
JAMSTEC has been developed underwater vehicles and observation equipments required for a variety of study about oceanography. Among the many research fields about deep-sea, in Japan there has been a growing interest in seabed resources from a few years ago. Then we had developed an AUV “Yumeiruka” to perform seabed resource survey. As one of the most significant feature of the shape of “Yumeiruka”,...
Autonomous Surface Vessels (ASV) are capable of performing a wide range of tasks given the emergence of state-of-the-art sensors, wireless communications links, autopilots and supervisory control systems. This paper describes prototyping efforts for a new, low-cost, portable ASV specifically developed for transport by helicopter and backpack in the Arctic. A prototype of this new ASV was developed...
An Unscented Kalman Filter (UKF) to simultaneously estimate the navigation state of an Autonomous Underwater Vehicle (AUV) and the sea current, a priori unknown, is proposed. The filter is the result of a modification of an UKF developed in the past by the authors for the sole purpose of navigation state estimation. The new algorithm has been obtained by integrating the vehicle model with a contribution...
This paper addresses the problem of controlling an electric powered wheelchair in dynamic, crowded areas. Navigating the vehicle effectively in such environmental conditions requires two issues to be considered: Relatively long term prediction of pedestrians' motion and an influence of the vehicle motion on the people behaviour in its vicinity. The purpose of this study is to develop a method that...
Within the last decade, we are witnessing the introduction of intelligent vehicles on our roadways. There is a similar need of intelligent transportation vehicles inside buildings such as airports or shopping malls. These intelligent vehicles can transfer elderly, disabled, or people with heavy luggage. This paper describes an intelligent vehicle that can autonomously transport people in indoor and...
This paper presents a detailed, systematic procedure for developing a Micro Aerial Vehicle (MAV), which is capable of autonomous flight in GPS-denied environments. This MAV is designed for a gross weight of 490 g and flight endurance of 8 minutes. The hardware structure (including the sensors, processors, and mechanical components), the software architecture (including operating system, navigation,...
An estimation framework is presented that improves the robustness of GPS-denied state estimation to changing environmental conditions by fusing updates from multiple view-based odometry algorithms. This allows the vehicle to utilize a suite of complementary exteroceptive sensors or sensing modalities. By estimating the vehicle states relative to a local coordinate frame collocated with an odometry...
For many navigation scenarios, it is known that the accuracy of navigation state estimates depends on the path traveled, particularly when access to external navigation aids such as the Global Positioning System (GPS) is not available. In this work, we present a path planning method that attempts to minimize the navigation uncertainty of a pair of autonomous vehicles traveling from known initial locations...
This paper describes a new class of autonomous marine vehicles named Medusa and highlights their role in a number of EU projects addressing multiple vehicle scenarios. The MEDUSA vehicles, with surface and diving versions, were designed and built at the Institute for Systems and Robotics, IST, Univ. de Lisboa, Portugal as a result of an effort aimed at affording researchers and practitioners of marine...
In order to enable autonomous flights and to increase the field of application of Micro Aerial Vehicles (MAVs) a new quadrotor with tiltable rotors is developed. This highly non-linear system requires complex algorithms to be controlled. To gain an efficient and robust control algorithm is a key problem concerning autonomous flights. In this article a simple but robust control approach based on control...
Unmanned Aerial Vehicles (UAVs) have seen increased use in indoor operation with applications to disaster recovery, inspection in manufacturing industry, and in health care system. For this reason, it is necessary to develop an obstacle avoidance scheme for UAVs flying under limited altitude. This work is focused on multi obstacle avoidance for quadcopter type UAV. A collision-free margin was modeled...
This conceptual paper examines the computer identification of signs called day markers that commonly appear for navigation purposes in a marine channel waterway. Most people are familiar with these signs when navigating in a boat as they appear either as red triangles, green rectangles or diamonds since they aid navigation through the channel. The paper focuses on a proposed classifier using Procrustes...
Smart phones and environmental sensors make it possible to dynamically monitor the positions and patterns of movements of people in urban areas and public spaces, identify or predict possible dangerous situations (e.g., overcrowded areas) or simply recognize the profitability of a different patterns of distribution and collective movements. In this article, we focus on the problem of using such technologies...
In this demonstration paper, we will present our adaptive user interface for replacing a vehicle's conventional dashboard. A programmable tablet computer with the Android operating system was utilized for displaying a vehicle's conventional instrumentation data and navigation guidance, as well as notifications from the vehicle's local safety sensors or external infrastructure. The developed user interface...
A driver should always pay attention to various situations which he faces inside and outside the car while driving and always keep eyes forward for safe driving. A vehicle augmented reality system provides the driver with safe and convenience information which matched with the real world through HUD. It makes the driver keep eyes forward road and other cars. We have developed the vehicle augmented...
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