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In order to estimate the position of a quad-rotor in GPS-denied environment such as under bridges, we developed a position estimation system using ultra-wide band (UWB), inertial measurement unit (IMU), and distance sensor for the quad-rotor. The accuracy of UWB is tens of centimeters and the UWB is several times better than traditional positioning systems based on WiFi, Bluetooth and GPS signals...
Autonomous robots that work in the same environment as humans must operate safely and adapt to handle various tools and deal with partial malfunctions. We propose an approach for estimating the robot structure and apply this approach for building a controller of dynamic motions. The robot structure is estimated by evaluating the mutual information (MI) among the sensor variables. Variables with high...
This paper presents a method for estimating object poses based on force sensor information using a particle filter. Autonomous robots often face uncertainty of measurement of object position when they manipulate objects. Related studies dealing with uncertainty in manipulation mainly focused on motions while grasping objects. In contrast, however, a non-grasp contact motion can be advantageous because...
In this paper, we represent a terrain inference method based on vibration features. Autonomous navigation in unstructured environments is a challenging problem. Especially, the detailed interpretation of terrain in unstructured environments is necessary to set an efficient navigation trajectory. As the vibration features are obtained from interactions between the robot and terrain, terrain inference...
A cyberphysical network of insect biobots or biological robots could aid first-responders for search-and-rescue applications in uncertain disaster environments. In such networks, the nodes are insect biobots equipped with miniature backpacks utilizing a system-on-chip. These applications demand fine-grained, real-time localization of the sensor nodes. In this paper, we use a combination of radio-frequency...
This paper deals with the problem of retrieving the optimal path between two points inside an unknown environment, utilizing a robot-scouter. The vast majority of the path planning frameworks for an unknown environment focuses on the problem of navigating a robot, as soon as possible, towards a pre-specified location. As a result, the final followed path between the start and end location is not necessarily...
Global registration of heterogeneous ground and aerial mapping data is a challenging task. This is especially difficult in disaster response scenarios when we have no prior information on the environment and cannot assume the regular order of man-made environments or meaningful semantic cues. In this work we extensively evaluate different approaches to globally register UGV generated 3D point-cloud...
Localization is one of the main tasks of autonomous mobile robots. There are many approaches on how to determine the robot's position with reasonable precision, as with the use of sensor fusion (IMU, GPS, Image, LiDAR). Even though it is possible to achieve high precision with these sensors combined, a solution that requires less resources in terms of processing, energy consumption and yet provide...
This paper studies the networked estimation of the state of a linear dynamical system. The focus is on developing a distributed estimation algorithm which could achieve the same performance as the centralized ones. A communication protocol which formally describes the network topology is introduced. By performing this protocol, the sum of the information vector contributions is computed, which is...
This paper presents a methodology to assess the performance of sensor fusion in UAVs based on PixHawk flight controller and peripherals to create ad-hoc unmanned vehicles and his adequacy to create different projects based on his architecture. The selected platform is described with stress on available sensors and data processing software, and the experimental methodology is proposed to characterize...
The relative position detection sensor can detect the tooth-slot structure of long stator track and generate periodic sinusoid signals. A signal process algorithm based on KF-UKF and a state space model for the sensor are proposed in this paper, which can estimate the position and speed of maglev trains, even when lots of Gaussian noises exits. Actual comparison experiments and numerical simulations...
We have developed an innovative medical round robot “Terapio” in hospitals. This novel robot is mainly tasked to deliver medical armamentarium and manage round data. An implemented omni-directional mobile mechanism and a person tracking control system to follow a medical doctor realize smooth transferring movement from a nurse station to a patient's bedroom. In this paper, person tracking control...
This paper presents a novel method for searching a position of a sub-GHz electromagnetic wave source. Since the Poynting vector, which is the energy current passing through the surface, is radiated from the electromagnetic source, proceeding along its direction would lead to the source. The Poynting vector, however, is the cross product of an electric field vector and a magnetic field vector, and...
In this paper, we address the problems of camera pose estimation accuracy and runtime efficiency by incorporating an elite selection method and a voting system to a conventional visual odometry (VO) method, called the “enhanced VO algorithm”. The use of elite selection method improves the efficiency of perspective-3-point (P3P) algorithm by only employing an elite subset of landmarks to estimate the...
Human-Following robots are being actively researched for their immense potential to carry out mundane tasks like load carrying and monitoring of target individual through interaction and collaboration. The recent advancements in vision and sensor technologies have helped in creating more user-friendly robots that are able to coexist with humans by leveraging the sensors for human detection, human...
This paper proposes the Multi-Layer Situation Map to express the relationship between objects and storage places in cleanup task. Recently, service robots have to estimate, decide and act automatically in various situations to provide services like human beings. An interaction robot should perceive a vague situation and communicate with human about cleanup service. For an interaction robot that talks...
Localization with laser range finder (LRF) needs an environment map. In some environments, the localization using the environment map prepared in advance often fails. In this study, we achieve localization using both the environment map and the feature of supplemented objects as the estimated map. Moreover, to suppress the influence of the observation noises of LRF, we estimate the feature of supplemented...
This paper proposes a direct learning controller for wireless sensor and robot network to coverage an environment by utilizing expectation maximization algorithm. In addition to sensors, including high-level and low-level sensors, mounted on mobile robots, low-level stationary sensors are considered to provide information for enhance the performance of coverage control. The main objective is to maximize...
We propose a technique to estimate a child's extraversion and agreeableness for social robots that interact with children. The proposed approach observed children's behavior using only the robot's sensors, without any sensor networks in the environment. An RGBD sensor was used to track and identify children's facial expressions. Children's interactions with the robot were observed, such as their distance...
In this paper, we propose a novel distributed Kalman filter (KF) over sensor networks using partial diffusion strategy, where each sensor only communicates with its neighbours and individual estimation vectors are partially transmitted to obtain local ones through convex combinations under communication bandwidth constraints. Proposed solution can obtain a trade-off between communications burden and...
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