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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, the problem of the exploration of an unknown environment by deploying a fleet of Micro-Aerial Vehicles (MAV) is considered. As a single robot has already proven its efficiency for this task, the challenge is to extend it to a multi-robots system to reduce the exploration time. For this purpose, a cooperative navigation strategy is proposed based on a specific utility function and inter-robots...
Robotic ground vehicles are commonly used in various road conditions for performing special tasks with different levels of autonomy. This requires the robots to possess a certain degree of perception about the road conditions up ahead and make plans accordingly. It is essential for the robots to be able to quickly adapt their perception for various road conditions they operate. In this paper, an adaptive...
Safety is one of the critical challenges for a semi or fully automated driving assistance systems. One of the key parameters for a safe automated driving assistance system is precise localization of the self and surrounding vehicles. Our previous work demonstrated the use of Symmetric Measurement Equations (SME) in a Factor Graph framework and exploited the use of sensor located outside the vehicle...
This paper comprises the algorithmic design and simulation of an autonomous navigation system for a differentialdrive mobile robot composed of 4 Mamdami-based fuzzy controllers. To do so, Matlab and the mobile robots simulator Sim.I.am were used. For the control design, each of the behaviors or controllers were modularly designed and tested following a reactive architecture. Subsequently, they were...
The use of GPU in point cloud processing usually represents a gain in computation time more than ten times higher then on CPU, especially for large amounts of data. This paper brings an evaluation of the processing time for point cloud fusion in three different systems (PC, Nvidia TX1 and Nvidia TK1) using CPU and GPU. The objective is to find the best way to perform sensor fusion for an autonomous...
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...
The group of rotations in three dimensions SO(3) plays a crucial role in applications ranging from robotics and aeronautics to computer graphics. Rotations have three degrees of freedom, but representing rotations is a nontrivial matter and different methods, such as Euler angles, quaternions, rotation matrices, and Rodrigues vectors are commonly used. Unfortunately, none of these representations...
The automatic detection of anomalies in Active and Assisted Living (AAL) environments is important for monitoring the wellbeing and safety of the elderly at home. The integration of smart domotic sensors (e.g. presence detectors) and those ones equipping modern mobile robots (e.g. RGB-D cameras) provides new opportunities for addressing this challenge. In this paper, we propose a novel solution to...
To interact with humans in Human Social Environments (HSEs), robots are expected to possess the ability of situational context perception and behave appropriately. In this paper, we propose two deep learning models, as situational context perception of robot, to learn from observations of human-robot interaction. Based on these models, we endow robot the capability of perceiving human's mentation...
This paper presents an objects-based topological mapping algorithm on different floors with various objects using a wheeled mobile robot. The extended Kalman filter (EKF) with adaptive measurement noise according to the terrain type is proposed to estimate the position of the robot. If an infrared distance sensor detects an object, the robot moves around the object to obtain the shape information...
In this paper, we present a novel platform for swarm robotics that is low cost, easy to assemble using off the shelf components and is deeply integrated with the most used robotic framework available today: ROS (Robot Operating System). The robotic platform is completely open, composed by a 3D printed body and open source software. We describe its architecture, present its main features and evaluate...
Considering the greater insertion of mobile robots in social contexts, i.e. in the presence of humans, classical techniques for fundamental tasks, such as navigation, must consider those people. In this sense, it is important to provide these robots with the capability to behave in a more socially acceptable manner. The adoption of socially acceptable behaviors demands a trade-off between social comfort...
In order to solve the self-localization problem, the Monte-Carlo Localization is proposed as a technique which is able to solve any localization problem. However, the implemented algorithm needs to be adapted to the robot and domain. Thus, this work presents a novel implementation for humanoid robots whose main sensory input is a camera, to be used in the domain of RoboCup Humanoid Soccer League....
The concept of the laser lighthouse is introduced and related to the localization of manufacturing tools carried by a mobile robot. Positioning with the laser lighthouse uses triangulation, for which a triplet of light sensors on the robot is applied. The influence of the arrangement of the triplet on the error propagation of the position calculation is investigated by calculation and comparison of...
Robots assist rescuers in search and rescue operations. The important aspects investigated in this study are the integration of a mechatronic system that will allow for a robotic platform with a vision system. The research collaboration between Argentina and South Africa is discussed with the correlating research areas that each country will investigate to allow for the development and advancement...
The paper presents a new methodology to solve the actuation and modelling problems of a soft-bodied swallowing robot (SR), developed for human swallow evaluation. To solve the actuation problem, a central pattern generator (CPG) based novel actuation scheme is developed and implemented to generate peristalsis in the robot. Machine learning based technique is used to determine the governing dynamics...
Indoor positioning systems (IPS) have gained a lot of traction within the research community in recent years. Received Signal Strength Indicator (RSSI) of wireless networks are the most commonly used metric for indoor localization. The objective of this paper is to see how Wi-Fi interferers of different data rates affect the packet RSSI values of TX-RX links in a ZigBee based indoor localization system...
Considering the high precision and small load of the 3D printer motion control system, this paper proposed a method of multi-dimensional stepper motor coordinated control. The overall design of the control system is given; based on Bresenham algorithm, the Bresenham algorithm is extended from two-dimensional to multidimensional, realizing cooperative movement of the multidimensional stepper motor;...
This paper aims to realize sensorless motion transmission for haptic teleoperation between remote places. Sensorless systems are endurable against operations under harsh environments. This is a great advantage suitable for teleoperation systems. To achieve this purpose, two types of voltage compensation are proposed for torque transmission and velocity synchronization. These two targets are known...
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