Serwis Infona wykorzystuje pliki cookies (ciasteczka). Są to wartości tekstowe, zapamiętywane przez przeglądarkę na urządzeniu użytkownika. Nasz serwis ma dostęp do tych wartości oraz wykorzystuje je do zapamiętania danych dotyczących użytkownika, takich jak np. ustawienia (typu widok ekranu, wybór języka interfejsu), zapamiętanie zalogowania. Korzystanie z serwisu Infona oznacza zgodę na zapis informacji i ich wykorzystanie dla celów korzytania z serwisu. Więcej informacji można znaleźć w Polityce prywatności oraz Regulaminie serwisu. Zamknięcie tego okienka potwierdza zapoznanie się z informacją o plikach cookies, akceptację polityki prywatności i regulaminu oraz sposobu wykorzystywania plików cookies w serwisie. Możesz zmienić ustawienia obsługi cookies w swojej przeglądarce.
Localization technique is a key technology for vehicular navigation and control. The use of satellite navigation is deemed essential. Yet, satellite-based navigation system is subject to multipath effect and signal blockages in urban area. To enhance the overall navigation capability, odometry techniques have been used as dead-reckoning devices to augment satellite navigation. To account the issues...
This paper proposes a new model for robot navigation in dynamic environments. The robot learns the motions of the objects, does motion ahead predictions, and plans a collision-free path to the goal. In this paper two new predicting algorithms, based on the AprioriAll algorithm, and a planning algorithm, using a heuristic search, are proposed. A novel framework and a simulation environment were used...
Current technology produces a big mass of information. The application of this information gives meaning and purpose to this data. Mobile robots can benefit from this information. This paper proposes a framework to apply semantic information to the navigation of autonomous mobile robots, tracking the robot movement into a semantic trajectory and analyzing the context data on the decision-making process...
A defining aspect of Cyber-physical systems are the sensors and actuators of a computing system, which interact with the physical world. While sensors and actuators can take on many different forms, one type of actuator, namely motors, usually has the highest influence on the lifetime due to the high energy consumption. Therefore, it is necessary to reduce physical movement of robots as much as possible...
Exact estimation of link length and joint position of human body is an important application in biomechanics, motion synthesis and analysis. Since human joint angles are not measureable, the starting point in studying this application is dealing with the identification of a robot based on task space measurement. The purpose of this study is to present a method to estimate robot joint parameters without...
Patrolling is mainly used in situations where the need of repeatedly visiting certain places is critical. In this paper, we consider a deployment of a wireless sensor network (WSN) that cannot be fully meshed because of the distance or obstacles. Several robots are then in charge of getting close enough to the nodes in order to connect to them, and perform a patrol to collect all the data in time...
The biggest challenges in modern robotics is service robots, which are able to execute many tasks for humans in their presence. This perspective naturally causes the problem of social navigation of mobile robots as well as human-robot interaction. In this article, we present the implementation of a navigation method on a mobile robot in indoor environment; we detail the algorithm and the implementation...
Topology maps represent the layout arrangement of nodes while maintaining the connectivity. As it is extracted using connectivity information only, it does not accurately represent the physical layout such as physical voids, shape, and relative distances among physical positions of sensor nodes. A novel concept Maximum Likelihood-Topology Maps for Wireless Sensor Networks is presented. As it is based...
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...
We present an algorithmic framework for the early classification of human intentions, and use it to accurately predict future human motions when planning the path of a robot in an environment that is shared with humans. During an off-line learning phase, a classifier that can recognize when a human intends to interact with the robot is trained. At runtime, this trained classifier allows us to recognize...
This paper addresses the problem of real-time, non-holonomic motion planning in environments with moving obstacles of unforeseen, arbitrary motion. An approach is introduced to smoothly switch trajectories by generating feasible non-holonomic trajectory segments on the fly as the robot moves in such an environment, extending the real-time adaptive motion planning (RAMP) approach that is used for holonomic...
Dexterous multi-fingered hands can accomplish fine manipulation behaviors that are infeasible with simple robotic grippers. However, sophisticated multi-fingered hands are often expensive and fragile. Low-cost soft hands offer an appealing alternative to more conventional devices, but present considerable challenges in sensing and actuation, making them difficult to apply to more complex manipulation...
This paper presents an approach for selecting the next best base position for a climbing robot so as to observe the highest information gain about the environment. The robot is capable of adhering to and moving along and transitioning to surfaces with arbitrary orientations. This approach samples known surfaces, and takes into account the robot kinematics, to generate a graph of valid attachment points...
We consider the problem of self-localisation for a mobile robot in an environment with a requested level of accuracy. The robot moves in a known environment following typical trajectories, which can be characterised in statistical terms. One of the main drivers of this paper is its application to assistive robots guiding senior or impaired users in shopping centres or in other public spaces. To localise...
We present an efficient anytime motion planner for mobile robots that considers both other dynamic obstacles and uncertainty caused by various sensors and low-level controllers. Our planning algorithm, which is an anytime extension of the Rapidly-exploring Random Belief Tree (RRBT), maintains the best possible path throughout the robot execution, and the generated path gets closer to the optimal one...
We address the challenging problem of tracking a moving target in cluttered environments using a quadrotor. Our online trajectory planning method generates smooth, dynamically feasible, and collision-free polynomial trajectories that follow a visually-tracked moving target. As visual observations of the target are obtained, the target trajectory can be estimated and used to predict the target motion...
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,...
Several self-assembly systems have been developed in recent years, where depending on the capabilities of the building blocks and the controlability of the environment, the assembly process is guided typically through either a fully centralized or a fully distributed control approach. In this work, we present a novel experimental system for studying the range of fully centralized to fully distributed...
In this work, a synergy-based reinforcement learning algorithm has been developed to confer autonomous grasping capabilities to anthropomorphic hands. In the presence of high degrees of freedom, classical machine learning techniques require a number of iterations that increases with the size of the problem, thus convergence of the solution is not ensured. The use of postural synergies determines dimensionality...
The sit-to-stand movement is an apparently simple yet fundamental activity of daily life. Failure of performing this movement strongly impacts the quality of life of an increasing number of elderly people. Much research thus focuses on assisting this motion. The time necessary for rising up from a sit position is very short for healthy subjects, in the order of few seconds. Using similar speeds for...
Podaj zakres dat dla filtrowania wyświetlonych wyników. Możesz podać datę początkową, końcową lub obie daty. Daty możesz wpisać ręcznie lub wybrać za pomocą kalendarza.