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In human society, there are many invisible social rules or spatial effects existing in our environments. The robot that does not comprehend these spatial effects might harm people or itself. This paper presents a spatial behavior cognition model (SBCM) to describe the spatial effects existing between people and people, people and environments. By understanding the spatial effects in human-lived environments,...
Biological creatures, some of them are very simple, seem to perform efficient search strategy. Recent researches show that noise in their internal mechanism may have an important role to manage this behavior. This paper focuses on realizing a simple, noise utilizing, mathematical framework that enables a mobile robot to perform random search adaptively and efficiently under changing target density...
Due to the anticipated future, extensive use of robots, human beings will probably share common spaces with them. The relationships between robots and humans will be conducted at close distances. Predicting people's future positions helps robots understand human behavior and react safely and naturally. In this paper, we propose a method for predicting people's positions in crossing behaviors, i.e...
This work addresses a coordinate control scheme for a helicopter and a formation of ground robots, based on artificial vision. First, a control scheme previously proposed is implemented to guide a formation of three ground mobile robots while they track a desired trajectory. In the sequel, a nonlinear controller based on the inverse dynamics of the aerial vehicle, focusing on its under actuated character,...
Considering obstacle avoidance for mobile robots, it is effective to generate optimal trajectory dynamically in terms of safety and efficiency. Since it usually requires iterative calculation to get an optimal trajectory, however, high computational cost becomes a problem for practical application, especially for low performance computers like industrial embedded CPUs. In this paper, we propose a...
The paper deals with the localization of mobile robot using the bearing only beacons as the only source of sensor data. The localization is based on Extended Kalman Filter. Derivation of localization algorithm is given together with test results for both simulation and real robot equipped with low cost sensor hardware. Beacons use infrared LEDs detected by the receiver on the robot and position estimator...
Path tracking control problem of a mobile robot is discussed in this paper. It's a typical problem in the field of robot locomotion. A control strategy combined with fuzzy control based on the Line of Sight (LOS) is proposed. According to the experience of driver, fuzzy control rule is selected with hierarchical method. With Line-of-sight method, a fuzzy control approach is then constructed. The results...
This paper presents a polar-space optimal kinematic controller design based on ant colony optimization (ACO) computing method for omnidirectional mobile robots with three independent driving wheels equally spaced at 120 degrees from one another. The optimal control parameters are obtained by minimizing the performance index using the proposed ACO computing method. These optimal parameters are used...
We develop a framework based approach to extract and recognize hand gestures from the video sequence acquired by a dynamic camera, which could be a useful interface between humans and mobile robots. We use Human-Following Local Coordinate (HFLC) System, a very simple and stable method for extracting hand motion trajectories, which is obtained from the located human face and body part. Hand trajectory...
Sensory-motor coordination (SMC) is an important ability for both natural organisms and mobile robots. This work investigates the role that purely reactive SMC has on a robot's ability to perform a deliberative motion identification task. We investigate three conditions under which a robot can utilize SMC, namely arbitrary (the motion strategy of the robot is fixed), adaptable (the motion strategy...
A new nonlinear trajectory tracking controller is proposed for a mobile robot based on the stability theory of cascaded system. To relax the persistency exciting assumption on the reference angular velocity, the whole tracking errors are divided into the cross track error and orientation error subsystem and the forward track error subsystem, not as in the former research. The back-stepping technique...
This paper is to present an approach to solve time-optimal collision-free trajectory planning problems for wheeled mobile robots based on switching time computation (STC) method, with smoothed penalty function method for state inequality constraints. By applying the smoothed penalty function method, the state inequality constraints are aggregated and posed as a final time constraint. Then gradients...
This paper presents an optimal kinematic controller design based on ant colony optimization (ACO) computing method for omnidirectional mobile robots with three independent driving wheels equally spaced at 120 degrees from one another. The optimal control parameters are obtained by minimizing the performance index using the proposed ACO computing method. These optimal parameters are used in the ACO-based...
As the precondition to perform many tasks including person following and dynamic obstacle avoiding, object tracking is very important for mobile robot systems especially in populated dynamic environment. A novel hybrid conditional random field model which has a hierarchical structure and includes hidden states is proposed for multi-object tracking with a mobile platform. Since conditional random field...
In this paper, we describe a coordination framework for weakly centralized mobile robot teams in which the leader is not specified a priori, but it is selected dynamically during the mission depending on the task and the environment. The key to our approach is the integration of both centralized and decentralized coordination strategies at the individual robot level. Each robot relies on the local...
In a highly dynamical environment, such as robotic soccer, robots must in real-time make its next position to intercept the fast moving target as quickly as possible, and with obstacle-avoidance. This paper describes a computationally inexpensive, yet look-ahead navigating method for mobile robots. The linear trajectory of the target's motion was achieved by least squares fit, the ellipse was established...
Wheelchair-bound persons with upper limb motion limitations can utilize a wheelchair-mounted robotic arm (WMRA) to perform activities of daily living (ADL) tasks. In this paper, an optimized control of our 9-DoF system, consisting of a 7-DoF robotic arm and a 2-DoF power wheelchair, is achieved. For effective ADL task execution, positioning the end-effector with proper wheelchair orientation was optimized...
This paper describes a new algorithm for cooperative and persistent simultaneous localization and mapping (SLAM) using multiple robots. Recent pose graph representations have proven very successful for single robot mapping and localization. Among these methods, incremental smoothing and mapping (iSAM) gives an exact incremental solution to the SLAM problem by solving a full nonlinear optimization...
We present a novel approach to build approximate maps of structured environments utilizing human motion and activity. Our approach uses data recorded with a data suit which is equipped with several IMUs to detect movements of a person and door opening and closing events. In our approach we interpret the movements as motion constraints and door handling events as landmark detections in a graph-based...
The problem of place recognition appears in different mobile robot navigation problems including localization, SLAM, or change detection in dynamic environments. Whereas this problem has been studied intensively in the context of robot vision, relatively few approaches are available for three-dimensional range data. In this paper, we present a novel and robust method for place recognition based on...
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