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Cooperation is a key concept used in multi-robot systems for performing complex tasks. In swarm robotics, a self-organized cooperation is applied, where robots with limited intelligence cooperate and interact locally to build up the desired global behavior. In this paper, we are studying a mobile object tracking scenario performed by a swarm of robots. The robustness, scalability and flexibility of...
Traditional robot games such as a robot soccer game are very popular since they provide realistic simulation of handling their robots. There are, however, some limitations. First, the interaction method is one-directional way. Second limitation is that users desire to control the robots in the remote site. Finally, in order for a gamer to be immersed they would need visual special effects. To overcome...
The mobile robot that works in dynamic environment must have strong ability of avoiding obstacles especially moving objects and move to it original goal. To achieve the goal, the dynamic polar coordinate environment model based on laser range finder is set up, which can not only simplify the environment description but also improve the responding ability. Based on these data a moving object tracking...
The design and implementation of an autonomous wheel-type Robot is presented. The robot is developed for the purpose of suitable operation in a variety of conditions. The robot has low power consumption, and brisk movement, which is a basic requirement in environments where quick response is needed in continuously changing dynamic situations. The primary system controller is implemented using an FPGA...
This paper presents a novel approach to control a humanoid head for object tracking. The proposed approach is based on the concept of virtual mechanism, where the real head is enhanced with a virtual link that connects the eye with a point in 3-D space. We tested our implementation on a humanoid head with seven degrees of freedom and two rigidly connected cameras in each eye (wide-angle and telescopic)...
Navigating cluttered indoor environments is a difficult problem in indoor service robotics. The Acroboter concept, a novel approach to indoor locomotion, represents unique opportunity to avoid obstacles in indoor environments by navigating the ceiling plane. This mode of locomotion requires the ability to accurately detect obstacles, and plan 3D trajectories through the environment. This paper presents...
This paper proposes a plausible approach for a robot to discover its own body based on the coherence of two different sensory feedbacks; vision and proprioception. The image cues of a moving region are stored in an image base with a visuo proprioceptional coherence label. The existence of coherence between the vision and proprioception suggests that the visually detected object is correlated to its...
We propose a BEST (Background subtraction and Enhanced camShift Tracking) method for a scout robot tracking a moving object in real time. A modified back subtraction method based on time axis is used to segment the moving object in a complicated environment. The centroid and area are chosen as the feature to judge target. We proposed a novel method that combines Camshift, AWS (Adaptive Window Selecting...
In this paper an implementation of an algorithm for fast visual tracking and localization of mobile agents has been described. Based on an extremely rapid method for visual detection of an object, described localization strategy provides a real time solution suitable for the design of multi-agent control schemes. The agents tracking and localization is carried out through five differently trained...
The main objective of this work is to develop a robots' fleet working together to make assistance tasks in a hospital, geriatric or home in a collaborative way. This paper focus on multi-robot mapping and localization system for robotic assistants and a camera based system for tracking people. This paper presents a method to detect, recognize and track people using mount cameras fixed on a building...
Interactive mobile robots require object/subject detection in very visually complex environments. In the field of computer vision, specially when applied to robotics, several approaches like face detection, face recognition and pedestrian detection often have to deal with issues associated to bad illumination and strong featured background. These issues imply lack of performance because human detection...
An autonomous soccer robot system is developed in this research, and this system provided with an omnidirectional drive mechanism and an omni-directional vision. First of all, the forward and inverse differential kinematics of the omnidirectional robot is derived, based on which a kinematics controller of the robot is designed. Secondly, combined with the vision feedback, a servo control is devised...
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