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This paper is aimed at presenting some general construction method of the hybrid plan controller for some task of temporal planning with preferences. This construction is multi-stage and it begins with a description of a chosen robot environment and its plan in some extended version of Linear Temporal Logic. This description is later transformed to the appropriate preferential Büchi automaton. In...
This article presents a large scale and long duration experiment as part of the French FUI VipaFleet project. A driverless shuttle has been operated for three month on an industrial site, totaling nearly 1500 km of autonomous travel and 300 passengers transported. The localization relies mainly on a multi camera system and a visual SLAM algorithm. Besides the vision algorithms themselves, this article...
This paper proposes a new approach to achieve real-time robotic control using image-based visual servoing in the presence of constraints. The proposed method deals with visibility constraints and occultation avoidance using potential fields. Our approach aims to improve the real-time performance of the visual servoing scheme. In fact, the proposed technique is more efficient in terms of computation...
The visually servoed trajectory tracking of quadrotors has attracted many academic researchers over the past decade, and numerous controllers are proposed for this challenging problem. The trajectory tracking controller proposed in this paper follows the Position Based Visual Servoing (PBVS) paradigm. Most of the PBVS controllers, if not all, are implemented assuming that the position of the quadrotor...
In this paper, eye tracking methodology is presented. It is a commercial camera based system for detection of eye pupil, its trajectory and classification of eye movements that led to the formation of assessed eye path. Methodology was examined on 10 subjects, who performed specified series of eye movements. Video frames were segmented and coordinates of eye pupil were found. Modified velocity threshold...
Performance measures and adaptive control methodologies for traffic signal systems currently require intersections to be instrumented with vehicle detectors and communication equipment, which can require substantial engineering resources to deploy and maintain. Recent studies have explored the use of Connected Vehicle (CV) data for signal performance measures at various levels of market penetration,...
We describe a matrix-based visualization technique for algorithmically and visually comparing metrics in eye movement data. To reach this goal, a set of scanpath trajectories is first preprocessed andtransformedintoasetofmetricsdescribingcommonalitiesand differences of eye movement trajectories. To keep the generated diagrams simple, understandable, and free of visual clutter we visuallyencodethegenerateddatasetintothecellsofamatrix...
Eye tracking is used to understand the way a viewer perceives a visual stimulus. Visual analytical means can help to gain insights in the recorded data. However, the analysis of eye movement is challenging as they do not follow any underlying network. Hence, unfiltered and detailed visualization of this data often suffers from cluttering and overplotting, which hampers pattern detection. To tackle...
We introduce a visualization technique called color bands for showing the time-varying eye movement behavior of eye-tracked people. Our contribution is the clutter-free representation of time-varying x- and y-positions of gaze data. We map these coordinates to vertical positions from left to right as in traditional line plots. On top, we display the differences between the x- and y-coordinates by...
Spacecraft Formation reconstructed for visibility and interaction is not strong, proposes a new HLA-based distributed spacecraft formation reconstructed visual simulation technology. The visual simulation technology achieved by the relative motion of spacecraft orbital mechanics combined fleet reconstruction methods were studied, and the use of HLA distributed simulation technology for spacecraft...
Although many tasks intrinsically involve multiple modalities, often only data from a single modality are used to improve complex robots acquisition of new skills. We present a method to equip robots with multimodal learning skills to achieve multimodal imitation on-the-fly on multiple concurrent task spaces, including vision, touch and proprioception, only using self-learned multimodal sensorimotor...
This work introduces a hybrid visual servoing technique for differentially flat, underactuated systems that is well suited for aggressive dynamics. Standard Position-Based Visual Servoing (PBVS) and Image-Based Visual Servoing (IBVS) approaches for underactuated systems, such as quadrotors, oftentimes do not explicitly ensure that the relevant image features stay in the camera's field of view, especially...
This paper presents an online optimization-based approach to compute trajectories to enable substitution of robots in formation-based deployments with durations that exceed the energy capacity of individual systems. The proposed algorithm computes trajectories in a multi-robot context to ensure a collision-free exchange, even where congestion is a concern. The quality of the resulting trajectories...
In this paper we propose a new approach to recovering the relative position and orientation of a pair of platforms moving on the plane by fusing the kinds of estimates provided by visual odometry systems with distance measurements obtained from ranging radio systems. By combining these two complementary sources of information we are able to provide estimates that could not be obtained using either...
In this paper we give an evaluation of different direct methods for computing frame-to-frame motion estimates of a moving sensor rig composed of an RGB-D camera and an inertial measurement unit. In particular, we compare how semi-dense and fully dense tracking methods, with and without the aid of an inertial measurement unit (IMU), perform with respect to changes in image resolution, shutter speed,...
Non-humanoid robots are becoming increasingly utilized for collaborative tasks that rely on each collaborator's ability to effectively convey their mental state while accurately estimating and interpreting their partner's knowledge, intent, and actions. During these tasks, it may be beneficial or even necessary for the human collaborator to assist the robot. Consequently, we explore the use of nonverbal...
In this paper we propose a novel technique for detecting loop closures on a trajectory by matching sequences of images instead of single instances. We build upon well established techniques for creating a bag of visual words with a tree structure and we introduce a significant novelty by extending these notions to describe the visual information of entire regions using Visual-Word-Vectors. The fact...
We present a novel visual-magneto-inertial system for pedestrian indoor navigation. It includes magnetic, inertial and depth sensors integrated into a device that can be hand held by a pedestrian. Our method builds upon a magneto-inertial tachymeter that is able to accurately reconstruct body speed in presence of magnetic gradient and a depth registration algorithm for computing inter-image movement...
In recent years, location-based services and indoor positioning systems gained increasing importance for both, research and industry. Visual localization systems have the advantage of not being dependent on dedicated infrastructure and thus are especially interesting for navigation within buildings. While there are already approaches of using pre-recorded databases of reference images to obtain an...
Haptic guidance has previously been employed to improve human performance in control tasks. This paper presents an experiment to evaluate whether haptic feedback can be used to help humans learn a compensatory tracking task. In the experiment, participants were divided into two groups: the haptic group and the no-aid group. The haptic group performed a first training phase with haptic feedback and...
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