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The use of collaborative robot systems to perform specific tasks is a strong research area on robotic systems. Robot platforms are becoming cheaper, increasing the number of applications and new tasks variations on research labs. A collaborative system that join together small mobile robots to scan some specific area and a drone to set their position on the ground is a good example of the possible...
In the study of multi-robots cooperative control, the design of the multi-robots cooperative platform is an important topic. To solve this problem, This paper builds a Multi-smart car collaborative control experiment platform based on visual location. The platform obtains real-time moving images of all smart cars according to the global infrared camera, and Combined with the infrared light on the...
ORB-SLAM2 is one of the better-known open source SLAM implementations available. However, the dependence of visual features causes it to fail in featureless environments. With the present work, we propose a new technique to improve visual odometry results given by ORB-SLAM2 using a tightly Sensor Fusion approach to integrate camera and odometer data. In this work, we use odometer readings to improve...
This paper addresses the problem of controlling the posture of a dual wheeled mobile terrestrial robot, with movement constraints with the objective of detect and follow a planar moving target, using a single fixed vision sensor. The main challenge addressed is to keep the robot oriented in the same direction as the target. In order to accomplish it, a computationally simple control algorithm is proposed...
Mobile robot localization has been considered to be an important task in the field of robotics research. It is known that it is difficult to estimate the self-position in dynamic environments where the positions of objects used as landmarks change. In this paper, we propose a robust method to estimate self-position from the first person view captured by a camera on a robot using Recurrent Convolutional...
This paper presents a visual servoing approach for robotic teleoperation using a tethered unmanned aerial vehicle (UAV). When teleoperating a robot, human operator's perception of the remote situation is limited by the robot's onboard camera. This deteriorates situational awareness and poses challenges on operation precision and efficiency. Tele- operated visual assistants are used in practice. For...
This poster discusses the implementation and technical choices of a proof of concept experience demonstrating interactive virtual characters for immersive mixed reality (MR) applications. Our interactive virtual characters are made believable through their visual appearance, physical interaction with the environment, dynamic behavior to the user and both real and virtual stimuli, and by being able...
Collaboration between heterogeneous robots can greatly improve the overall robot system by obtaining capabilities that each single robot is unable to achieve. In this paper, we present a collaborative robot system designed for search and rescue missions in an unknown environment with obstacles. The system consists of an aerial robot and a ground robot. An extended Kalman filter (EKF) is used for...
In this article, the efficiency of Kalman's filter to classify moving parts is shown. A SCARA robot working cell was designed and built to accomplish this task. The main goal is to classify parts that are being carried on a conveyor belt at constant speed according to their shape or color. The operation of the Kalman's filter is described, as well as the mathematical equations to develop the algorithm...
The aim of this work is to propose an experimental platform to perform tests on mobile robot systems. The first stage of this work is to build a small arena equipped with a camera and a central computer able to communicate with tested robots. Then, we developed a program to process the images acquired by the camera to locate the robot based on the Hough and KLT calibration algorithms. The second phase...
Robot reaching ability serves as one of essential basis for many other manipulation skills, such as grasping, placing etc., and has been widely focused for decades. Inverse model, which plays a fundamental role within robot reaching ability, aims to produce motor commands to drive the system to the desired state. However, since the inverse model is always an one-to-many mapping, it suffers from the...
The stripe laser based stereo vision is often used in robot vision-guided system in the eye-in-hand configuration. The 3D scene is reconstructed from many 3D stripes obtained in stripe laser based stereo vision. But 3D objects can not be recognized by 3D stripe information. In 3D cluttered scene, the recognition of 3D objects is also difficult due to the object pose and match. In fact, the video from...
Machine vision makes robots more intelligent, but most Cartesian robots rely on manual programming to perform operations. This paper presents a new nine points calibration method for Cartesian robot based on machine vision, and realizes the automatic assembly of Cartesian robot. Firstly, affine transformation model of Cartesian robot was established. The homogeneous matrices of four affine transformations...
This paper presents a novel vision servoing approach using depth maps to perform robotic motion task with field of view (FOV) constraint. The vision servoing scheme relies on the depth information available from an Red Green Blue-Depth (RGB-D) camera. With respect to the previous approaches, the proposed vision servoing approach has the advantage as follow: First, it does not require the estimation...
This work proposes an approach for performing Human-Robot Cooperation (HRC) tasks by integrating a Brain Computer Interface (BCI) with a robotic manipulator. In detail, the user can select one among six different objects via BCI, which analyzes the P300 signals generated by the brain when the images of the selectable objects appear on the screen. Then, the selected object is recognized by a Support...
In recent years, mobile cyber physical systems have found applicability in multiple areas such as mobile intelligent robots and robotics systems, intelligent transportation systems, environmental monitoring systems, healthcare systems and so on. Remote control of mobile objects is a very promising field which allows to improve the convenience and safety of human society life. According to the fact...
A Smart Wheelchair (SW) is an electric powered wheelchair, equipped with sensors and computational capabilities, with the general aim of both enhancing independence and improving perceived quality of life of the impaired people using it. SWs belong to the class of semi-autonomous mobile robots, designed to carry the user from one location to another of his/her choice. For such systems, the localization...
In this paper, we present a robust system of self- directed autonomous robots evolving in a complex and public spaces and interacting with people. This system integrates highlevel skills of environment modeling using knowledge-based modeling and reasoning and scene understanding with robust image and video analysis, distributed autonomous decision- making using Markov decision process and Petri-Net...
To retrieve the 3D coordinates of an object in the robot workspace is a fundamental capability for industrial and service applications. This can be achieved by means of a camera mounted on the robot end-effector only if the hand- eye transformation is known. The standard calibration process requires to view a calibration pattern, e.g. a checkerboard, from several different perspectives. This work...
Humankind encounters with unprecedented number and scales of disasters which stem from natural and human-made causes. So many victims have suffered severely in those catastrophes that compelled generation and development of search and rescue technology to help victims in future. One of the most important application areas within this scope is the search and rescue robots. The robots equipped with...
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