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In this paper, we review state-of-the-art research into automated construction by autonomous mobile robots. Today, space research agencies seek to build infrastructure without human intervention; and construction companies look to robots as having the potential to achieve improvements in construction quality, efficiency, and safety, not to mention flexibility in architectural design. This paper addresses...
After a terrible disaster such as an earthquake or a nuclear accident, finding victims and isolating them from hazards are usually the first priorities for rescuers. As the security of rescuers and the stabilization of the environment are critical components of the first rescue phase, we assume that robots could be used to secure the environment by performing construction tasks, to stabilize large...
Retrieving a large collection of environment maps built by mapper robots is a key problem for mobile robot self-localization. The current paper studies this map retrieval problem from a novel perspective of a multi-scale Bag-Of-Features (BOF) approach. In general, multi-scale approach is advantageous in capturing both the global structure and the local details of a given map. On the other hand, BOF...
We are presenting a proceeding of registering and evaluating data of the environment using a laser scanner and ultrasonic sensor cells programmable in Embedded Matlab/Simulink Software, having the aim of real time navigation and path determination of a car like vehicle. We assume that laser scanners have the advantage of producing reliable data with well understood characteristics for map generation...
This paper describes an efficient indoor map building method that involves a robot collaborating with a human. A robot acquires the shape of a required part of an indoor environment, searches for a suitable picture from the scene of the destination, and registers it as a picture landmark at the same time as the robot follows the human. Once a picture landmark is registered on a map, a robot finds...
This paper presents a method for accurately segmenting and classifying 3D range data into particular object classes. Object classification of input images is necessary for applications including robot navigation and automation, in particular with respect to path planning. To achieve robust object classification, we propose the idea of an object feature which represents a distribution of neighboring...
This paper discusses a sketch interface that can be used to guide a mobile robot along a specified path in its unfamiliar place. With the sketch interface, the user draws a rough map to give navigation tasks to robots. Because sketched maps often suffer from various inaccuracies and large errors in landmarks, we discuss what kinds of uncertainties in the rough maps would mainly have effects on navigating...
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