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Performance Optimization of All-Terrain Robots: A 2D Quasi-Static Tool
(2006)2006 IEEE/RSJ International Conference on Intelligent Robots and SystemsThe creation of a rover for a specific task requires designing and selecting the mechanical structure specifically for its mission. This can be done by modelling a chassis and evaluating it with specific criteria, which is the aim of the performance optimization tool presented here. This software makes it possible to compare and improve existing and new designs in a quick and efficient way. The tool presented in this paper is based on a ...Conference Paper -
Micro Helicopter Steering: Review and Design for the muFly Project
(2008)2008 IEEE/ASME International Conference on Mechtronic and Embedded Systems and ApplicationsThe steering system on a micro helicopter is the key element for control and navigation. For a sufficient control authority the steering has to be fast, precise, reliable and lightweight. While on full scale helicopters the choice of the steering mechanism is limited, there exist many possibilities to steer a helicopter in small scale. In this paper a survey on different concepts is given followed by a realization on the coaxial micro ...Conference Paper -
A lightweight SLAM algorithm using Orthogonal planes for indoor mobile robotics
(2007)2007 IEEE/RSJ International Conference on Intelligent Robots and SystemsSimple, fast and lightweight SLAM algorithms are necessary in many embedded robotic systems which soon will be used in houses and offices in order to do various service tasks. In this paper the Orthogonal SLAM algorithm is presented as an answer to this need. In continuation of our previous work, the algorithm is extended to generate 3D maps and empirically validated by mapping the long corridor of our lab with the accuracy comparable ...Conference Paper -
Real-time monocular visual odometry for on-road vehicles with 1-point RANSAC
(2009)2009 IEEE International Conference on Robotics and AutomationThis paper presents a system capable of recovering the trajectory of a vehicle from the video input of a single camera at a very high frame-rate. The overall frame-rate is limited only by the feature extraction process, as the outlier removal and the motion estimation steps take less than 1 millisecond with a normal laptop computer. The algorithm relies on a novel way of removing the outliers of the feature matching process.We show that ...Conference Paper -
Wheel torque Control for a rough Terrain Rover
(2004)2004 IEEE International Conference on Robotics and AutomationNavigating in rough terrain is a complex task that requires the robot to be considered as a holistic system. Algorithms, which don't consider the physical dimensions and capabilities of the mobile robot lead to inefficient motion and suffer from a lack of robustness. A physical model of the robot is necessary for trajectory control. In this paper, quasi-static modeling of a six-wheeled robot with a passive suspension mechanism is presented ...Conference Paper -
Feature-Based Multi-Hypothesis Localization and Tracking for Mobile Robots Using Geometric Constraints
(2002)2004 IEEE International Conference on Robotics and AutomationIn this paper we present a new probabilistic feature-based approach to multi-hypothesis global localization and pose tracking. Hypotheses are generated using a constraint-based search in the interpretation tree of possible local-to-global pairings. This results in a set of robot location hypotheses of unbounded accuracy. For tracking, the same constraint-based technique is used. It performs track splitting as soon as location ambiguities ...Conference Paper -
Probabilistic Plane Fitting in 3D and an Application to Robotic Mapping
(2004)2004 IEEE International Conference on Robotics and AutomationThis work presents a method for probabilistic plane fitting and an application to robotic 3D mapping. The plane is fitted in an orthogonal least-square sense and the output complies with the conventions of the symmetries and perturbation model (SPmodel). In the second part of the paper, the presented plane fitting method is used within a 3D mapping application. It is shown that by using probabilistic information, high precision 3D maps ...Conference Paper -
Applications of a Real-Time Software Framework for Complex Mechatronic Systems
(2005)2005 IEEE/ASME International Conference on Advanced Intelligent MechatronicsAs the complexity of the missions to be performed by mechatronic systems grows, so does the amount of embedded software to be produced and the number of involved specialists. System complexity management and software integration become more important. In this paper, we present an initial implementation of a real-time capable software framework for complex mechatronic systems that facilitates embedded software development and integration. ...Conference Paper -
Object Classification based on a Geometric Grammar with a Range Camera
(2009)2009 IEEE International Conference on Robotics and AutomationThis paper proposes an object classification framework based on a geometric grammar aimed for mobile robotic applications. The paper first discusses the geometric grammar as a compact representation form for object categories with primitive parts as its constituent elements. The paper then discusses the object classification implemented as parsing of primitive parts. In particular, two approaches are discussed that constrain the search ...Conference Paper -
A Cognitive Modeling of Space using Fingerprints of Places for Mobile Robot Navigation
(2006)2006 IEEE International Conference on Robotics and AutomationIn this work we address the problem of perception, spatial cognition and topological navigation for a mobile robot. The objective of this work is to enable the navigation of an autonomous mobile robot (or vehicle) in an indoor (or outdoor) structured environment without relying on maps a priori learned and without using artificial landmarks. A new method for incremental and automatic topological mapping and global localization using ...Conference Paper