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In this paper is presented a form to govern a swarm of robots using only two parameters for repulsion and attraction. Behavior of the swarm is first simulated using kinematic models of differential vehicles then an implementation of a pack of five robots is made. As a results, it is evident in simulations and implementations that changing repulsion and attraction parameters can change the behavior...
Cooperative driving systems are a possible solution to improve traffic efficiency, road safety and even reduce the emission of pollutants, but there are several problems relating to aspects of safety, cost, duration and feasibility that slow down the development and experiments. In this context, simulation tools are essential to help researchers on this development. The goal of this paper is to present...
Autonomous vehicles require advances sensing technologies, in order to be able to safely share the environment with human operators. Those sensing technologies are in fact necessary for identifying the presence of unforeseen objects, and measuring their position and velocity. Furthermore, classification is necessary for effectively predicting their behavior. In this paper we consider the presence...
Extrinsic camera parameters estimation is an important task for many assistance systems. The reconstruction of the image to world projection depends strongly on robust estimated camera parameters. Based on the used camera system, the extrinsic parameters estimation can be a complicated task, that maybe requires a lot of computing capacity. In this paper, an extrinsic camera parameters estimation procedure...
We consider the problem of state-observation and control for a bi-tethered aerial system composed by a physical chain of two underactuated aerial robots, also called UAVs. The controlled outputs are the Cartesian position of the last robot and the internal forces along the links. We aim at a minimal use of sensors in order to retrieve the full state. For this goal we propose an output transformation...
In this paper, we consider the two dimensional (2-D) predecessor-following control problem for a platoon of unicycle vehicles moving on a planar surface. More specifically, we design a decentralized kinematic control protocol, in the sense that each vehicle calculates its own control signal based solely on local information regarding its preceding vehicle, by its on-board camera, without incorporating...
We address the problem of verifying motion plans for aerial robots in uncertain and partially-known environments. Thereby, the initial state of the robot is uncertain due to errors from the state estimation and the motion is uncertain due to wind disturbances and control errors caused by sensor noise. Since the environment is perceived at runtime, the verification of partial motion plans must be performed...
Braitenberg vehicles are simple models of the motion of animal towards, or away from, a stimulus. They have been used to implement target reaching and avoidance behaviours in robotics, based, among others, on sound, light, distance, and pressure sensors. When the sensors are accurate enough - when they provide a high signal to noise ratio - variations on the readings can be neglected. Their behaviour,...
Reliable mapping and hazard detection are prerequisites for autonomous navigation for unmanned ground vehicles. Because of the uncertainty and vibration induced by high-speed navigation and rugged terrain, the problem of mapping for high-speed off-road autonomous navigation has not been completely solved yet. A relative probabilistic mapping (RPM) algorithm is introduced to address the problem. Firstly,...
The HippoCampus platform is a low-cost micro autonomous underwater vehicle for swarm robotics research. This paper presents the hardware and software design, the communication link, instrumentation, and control system. The quadrotor design enables the vehicle to perform agile maneuvers in a very confined test tank. Vehicle navigation is based on the on-board sensor suite. Autonomous path following...
This paper reports on an algorithm to support autonomous vehicles in reasoning about occluded regions of their environment to make safe, reliable decisions. In autonomous driving scenarios, other traffic participants are often occluded from sensor measurements by buildings or large vehicles like buses or trucks, which makes tracking dynamic objects challenging.We present a method to augment standard...
We propose an automatic, targetless, data-driven, extrinsic calibration method to calibrate push-broom 2D lidars with a multi-camera system. The calibration problem is decoupled into alternating optimisers over two hierarchical levels, where both levels are linked with a penalty term. The lower-level optimises the six degrees-of-freedom (DoF) rigid-body transforms between the lidar and each camera...
We present a behavioral approach for autonomous robotic exploration of marine habitat with collision avoidance given little or no prior information. In our previous work, a vision-based reactive navigation paradigm with a predefined forward direction allowed an underwater robot to avoid unexpected obstacles. In this work, we have now incorporated visual perceptive invariants to guide the navigation...
Consumer grade technology seen in cameras and phones has led to the price/performance ratio of sensors and processors falling dramatically over the last decade. In particular, most devices are packaged with a camera, a gyroscope, and an accelerometer, important sensors for aerial robotics. The low mass and small form factor make them particularly well suited for autonomous flight with small flying...
In the progress of improving the safety of a vehicle while driving, multi-sensor environmental perception has many advantages compared with other approaches. This paper is devoted to proving that multi-sensor information fusion that is used on a vehicle can help identify and eliminate the spurious data, which is obtained from multi-sensors, based on Bayesian approach. And it is one of the most important...
Path planning among obstacles for nonholonomic systems is a widely researched area nowadays, but it is still one of the most challenging problems in autonomous navigation. We have recently presented a rapidly exploring random tree based global planner (RTR) and a steering method (C*CS) for car-like vehicles, which uses circular and straight movements. With the aid of these two methods it is possible...
The Microsoft Kinect device is capable to perform object detection using its advanced depth sensors. In this project, the Kinect depth sensor is used for object detection for vehicle collision avoidance. Tests performed on several types of vehicles and environmental conditions indicate that the Kinect sensor is able to perform this task well under various conditions.
State-of-the-art, in-pipe, crawling robots face challenges in small diameter, non-smooth, water distribution pipes, mostly because of their direct contact with the pipe walls. On the other hand, swimming robots show greater potential in performing various maneuvers inside the pipes, because of the freedom in their motion. Such autonomous, swimming robots are needed for pipe-monitoring and leak detection...
There has been tremendous progress on the distributed control of mobile autonomous multi-agents, mainly driven by the need to achieve desirable group behavior for the multi-agents based only on local information exchange and feedback control. In this review article, a small-gain approach is proposed to design a new class of distributed nonlinear controllers for leader-following formation control of...
Monitoring technique using UAV(Unmanned Air Vehicle) means a technique of monitoring by mounting camera on UAV in case of having to monitor at an altitude where it is unable to shoot objects with general ground photographing equipment. Monitoring method by using UAV has an advantage of accessibility and speed compared with vehicle and monitoring of diversified compositions is possible. In addition,...
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