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This paper studies the problem of distributed estimation for discrete-time nonlinear systems with Gaussian mixture noise. A merge-fusion-split strategy has been proposed to develop a distributed Gaussian sum filter (GSF) over a sensor network. In the proposed filter, the GSF is implemented for each sensor to generate local estimates and the local estimates of Gaussian components are merged as a single...
In this paper, we propose a distributed detection algorithm for collective behaviors in multiagent systems. The multiagent systems may exhibit various collective behaviors, such as flocking, torus, swarm, under different agents interaction models and control parameters. To detect those collective behaviors, we design a local and distributed algorithm to estimate certain global characteristic signals...
Visual odometry approaches have demonstrated to work very well for localization in GPS-denied areas, however they could quickly diverge depending on the environment. In order to achieve reliable long-term localization, it is a good practice to complement vision-based estimations with an additional source of information able to correct odometry drifts. This paper presents an approach that complements...
Method for estimation of mobile robotic platform displacements based on acquisition of marks on the surface of displacements by the pattern installed on a mobile robot in the form of a triangle with markers at the vertices is considered. The method allows estimating algorithms and methods of localization and also to be used for calibration of mobile robot sensor systems.
Knowing the exact position and rotation is a crucial necessity for the navigation of autonomous robots. Even in outdoor environments GPS signals are not always accessible for estimating online rotation and position of robots. Also inertial aided navigation methods have their own defects such as the drift of gyroscope or inaccuracy of accelerometer in agile motions and environmental sensitivity of...
This work studies localization problem for a multi-robot team with one leader and some followers. A two stage localization algorithm is developed for the team's localization. In the first stage, two followers estimate their relative positions and headings regarding to a landmark based on the measurements from local sensors on these robots, and than the team leader estimates its position and heading...
The paper describes the design of a simple and robust navigation system based on odometry and global ultrasonic position system. The ultrasonic system precision was tested and the results are shown in this paper. The Extended Kalman Filter is used for data handling, which helps us to handle noise from sensor.
Intention recognition is an important topic in the field of Human Robot Interaction. If the robot is wanted to make counter movements just in time according to human's actions, a robotic system must recognize the intention of the human necessarily. In this paper, a method for a robotics system to estimate the human's intention is presented. In our method, the information is provided from the sensor...
Localization is a mandatory requirement in Wireless Sensor Networks (WSNs). Many solutions focus on static networks and do not account for mobility. In this paper we present an extension of the Monte Carlo Localization method, which exploits the mobility behavior of certain applications in WSNs to reduce the localization error. Our approach called PO-MCL maps regular traveled paths of nodes to an...
When a robot has to execute a shared plan with a human, a number of unexpected situations and contingencies can happen due, essentially, to human initiative. For instance, a temporary absence or inattention of the human can entail a partial, and potentially not sufficient, knowledge about the current situation. To ensure a successful and fluent execution of the shared plan the robot might need to...
Magnetic motion control of wireless biomedical capsule (WBC) have been a popular research topic recently. Use of embedded permanent magnet inside WBC and magnetic sensors outside the human body produces a magnetic field around passive WBC. This helps to calculate position and orientation of the WBC inside the human body as well as moving the WBC via magnetic force. In this paper, we present a hybrid...
This paper describes a localization technique for a mobile robot in an environment with many unknown obstacles, such as pedestrians. To realize robust localization against unknown obstacles by using a particle filter, a space observation model has conventionally been used. However, this approach requires a lot of computation time for matching voxel. Therefore, in this study, we propose a fast matching...
Indoor localization has been an active research area for the last two decades. This emerged in the context of providing a mobile robot the capability to conduct navigation tasks in indoor environments. Although the sensing technologies and techniques proposed for indoor robot localization have proven to be reliable solutions, these cannot be adopted as a solution to people or object localization for...
This article presents the characterization of inherent composite noise of a camera based position measurement system. Such an examination is needed to use a camera system as the position measurement sensor for direct implementation in Kalman filter based positional trajectory estimation of moving objects. Time and frequency domain analysis are carried out to characterize the noise in units of measured...
This work presents a height estimation method that uses visual information. This method is based on the global appearance of the scenes. Every omnidirectional scene is described with a global appearance descriptor without any other transformation. This approach is tested with our own image database. This database is generated synthetically based on two different virtual rooms. One of the advantages...
This paper validates experimentally a humanoid posture control concept from neuroscience, called disturbance estimation and compensation, DEC concept. The DEC control system, different from typical state estimation systems, is not including a dynamic model of the body. Also, among human posture control models it is particular in that it uses feedback of multisensory disturbance estimates for compensation,...
Energy expenditure of a person closely corresponds to the amount of physical activity. Recently, due to the advance in sensor and electronic technology, we can measure physical activity using portable electronic devices. Smart phones are well equipped with useful sensors such as accelerometers and orientation. In this paper, we present estimation method of activity energy expenditure using a smart...
Denoising of Time-of-Flight (ToF) range data is an important task prior to further data processing. Existing techniques commonly work on a post processing level. This paper presents a novel approach for improving data quality on the image acquisition level by automatically determining the best integration time for arbitrary scenes. Our approach works on a per-pixel basis and uses knowledge gained...
Underwater robot swarming is of great importance to the development of novel strategies for oceanographic research, oceanic meteorology, and surveillance. Nevertheless, it has not drawn as much attention as its aerial or ground counterparts. In this paper, we investigate the mobility of a robot swarm in dominant and dynamically changing ocean currents. An active Lagrangian particle swarm (ALPS) consists...
Many species of fish use the lateral line for underwater information extraction. In spite of the extensive work on artificial lateral line (ALL) and inertial measurement unit (IMU), the ALL and IMU are rarely used together to estimate the speed of robotic fish. Here we show that an artificial lateral line and an inertial measurement unit can be used cooperatively to estimate the speed of a swimming...
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