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Aquatic unmanned robotic systems have gained popularity due to their abilities to perform a wide range of applications at low cost and no risk to human lives. This research investigates the development of the navigation system of “HPftN”, an Autonomous Surface Vehicle (ASV). The PID control system composed of 3 Arduino UNO boards, a GPS, a Compass and 4 thrusters can navigate the 2,86 meter long and...
This paper presents some of the results of the EU-funded project PANDORA — Persistent Autonomy Through Learning Adaptation Observation and Re-planning. The project was three and a half years long and involved several organisations across Europe. The application domain is underwater inspection and intervention, a topic particularly interesting for the oil and gas sector, whose representatives constituted...
This paper describes NASA's initial steps for identifying and evaluating candidate Exploration Zones (EZs) and Regions of Interests (ROIs) for the first human crews that will explore the surface of Mars. NASA's current effort to define the exploration of this planet by human crews, known as the Evolvable Mars Campaign (EMC), provides the context in which these EZs and ROIs are being considered. The...
Automated driving systems that share control with human drivers by using haptic feedback through the steering wheel have been shown to have advantages over fully automated systems and manual driving. Here, we describe an experiment to elicit tacit expectations of behavior from such a system. A gaming steering wheel electronically coupled to the steering wheel in a full-car driving simulator allows...
This paper presents NAMIDA, social interface consisting of three robots that help the driver to navigate by considering him as a bystander in a multi-party conversation between the agents. Through this model the cognitive workload of the driver can be reduced compared to the conventional one-to-one communication based approach that directly addresses the driver. We set up an experiment to compare...
The present workshop focuses on the topic of intention recognition in HRI. To be able to recognise intentions of other agents is a fundamental prerequisite to engage in, for instance, instrumental helping or mutual collaboration. It is a necessary aspect of natural interaction.
Automated vehicles have drawn great attention in research and industry, due to their potential benefits in driving without passengers. Using computer simulation in motion and speed control of the vehicles can reduce errors and costs. Fuzzy logic provides a different way for issues that need to be controlled. This method is concentrated on what the system should do, not on how the works are done. Using...
A commonly used technique for oil spill response is to use two or more ships towing a boom. Our research proposes fully automated operations based on unmanned ships and a computer-based planning system. The system will carry on a complete autonomous operation, requiring only the position of the oil-spill and to push a start button. The paper describes the steps of the research already accomplished,...
The off-shore industry requires periodic monitoring of underwater infrastructure for preventive maintenance and security reasons. The tasks in hostile environments can be achieved automatically through autonomous robots like UUV, AUV and ASV. When the robot controllers are based on prespecified conditions they could not function properly in these hostile changing environments. It is beneficial to...
This paper describes the design and implementation of an electronic metal detector equipped remote-controlled robot that can be used in land mine detection without putting humans in harm's way. The metal detector can detect covered metals and the robot can be controlled wirelessly from a distance. The ideas and concepts from the theoretical stages are molded into the physical hardware components by...
Semantic mapping is a very active and growing research area, with important applications in indoor and outdoor robotic applications. However, most of the research on semantic mapping has focused on indoor mapping and there is a need for developing semantic mapping methodologies for large-scale outdoor scenarios. In this work, a novel semantic mapping methodology for large-scale outdoor scenes in autonomous...
In this paper coordinated path following for formations of under-actuated agents in three dimensional space is considered. The agents are controlled to follow a straight-line path whilst being affected by an unknown environmental disturbance. The problem is solved using a twofold approach. In particular, the agents are controlled to the desired path using a guidance law that rejects an unknown, but...
Particle Swarm Optimization (PSO) can be used in swarm robotic search tasks to find extrema that represent targets. PSO assumes that particles can update their positions and velocities instantaneously in each iteration of the algorithm. For optimization purposes, this assumption is acceptable, however, it is not suitable when the algorithm is to be used by a swarm of robots to find a target in a search...
Cyber-Physical system (CPS) are now widely used in the design of smart objects. A CPS is the integration of computational elements with physical processes. One of the most widespread application of CPS is the autonomous transportation systems. This paper presents a CPS model for the design of a platoon system approach (i.e. a set of autonomous vehicles that move together without any mechanical link...
Unmanned Aerial Vehicles (UAVs) have seen increased use in indoor operation with applications to disaster recovery, inspection in manufacturing industry, and in health care system. For this reason, it is necessary to develop an obstacle avoidance scheme for UAVs flying under limited altitude. This work is focused on multi obstacle avoidance for quadcopter type UAV. A collision-free margin was modeled...
This paper presents a modular and extensible quad rotor architecture and its specific prototyping for automatic tracking applications. The architecture is extensible and based on off-the-shelf components for easy system integration while maintaining constant connectivity with the IoT. A target tracking and acquisition application is presented in detail to demonstrate the power and flexibility of the...
Remotely operated underwater vehicles or ROVs are underwater robots that are used in science, entertainment, military and offshore oil industries. Their main function is to interact with the environment under the water in various ways. It is a very complicated system and uncommon in the developing or the underdeveloped countries around the world. Countries consisting many water bodies and prone to...
This paper describes a model-based test generation approach for testing autonomous systems interacting with their environment (i.e., world). Unlike other approaches that assume a static world with attributes and values, we present and test the world dynamically. We build the world model in two steps: a structural model that constructs environmental factors (i.e., actors) and a behavioral model that...
We propose an algorithm for planning the velocity of a vehicle on a pre-planned path applicable to differentially steered, zero turn radius, mobile robots with symmetric mass distribution about the turn axis. This approach uses estimates of path curvature to maintain tracking precision in the vehicle's heading controller. The longitudinal speed of the vehicle is restricted to limit the bandwidth of...
Two-Wheeled Inverted Pendulum (TWIP) robot is considered as an unstable and underactuated system affected by physical and environmental constrains. In addition, due to the model uncertainties, a robust control approach is needed to stabilize the posture of the TWIP. Robust Model Predictive Control (RMPC) based on linear matrix inequality (LMIs) is addressed to an optimization problem of the “worst-case”...
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