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Environmental Modeling with Fingerprint Sequences for Topological Global Localization
(2003)Proceedings. 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003), October 27-31, 2003, Las Vegas, NevadaConference Paper -
SKY-SAILOR Design of an autonomous solar powered martian airplane
(2004)Proceedings of the 8th ESA Workshop on Advanced Space Technologies for Robotics and Automation (ASTRA 2004) ESTEC, Noordwijk, The Netherlands, November 2-4, 2004Conference Paper -
Narrative Situation Assessment for Human-Robot Interaction
(2003)2003 IEEE International Conference on Robotics and AutomationIn this paper we address the problem of interpreting sensory data for human-robot interaction, especially when gathered from several robots at the same time. After describing motion tracking in this context, we introduce a general framework for situation representation, and how it simplifies extraction of information suitable for complex machine dialogs. As a concrete implementation thereof, a narrative description of a complex scene in ...Conference Paper -
Smooth and Efficient Obstacle Avoidance for a Tour Guide Robot
(2003)2003 IEEE International Conference on Robotics and AutomationWe present the local path planning and obstacle avoidance method used on the autonomous tour-guide robot RoboX. It has proven its value during a 5 month operation of ten such robots in a real-world application, a very crowded exhibition. Three known approaches (DWA, elastic band, NF1) have been integrated into a system that performs smooth motion efficiently, in the sense of computational effort as well BS goal-directedness. Apart from ...Conference Paper -
3D-Odometry for rough terrain - Towards real 3D navigation
(2003)2003 IEEE International Conference on Robotics and AutomationUp to recently autonomous mobile robots were mostly designed to run within an indoor, yet partly structured and flat. environment. In rough terrain many problems arise and position tracking becomes more difficult. The robot has to deal with wheel slippage and large orientation changes. In this paper we willfirst present the recent developments on the offroad rover Shrimp. Then a new method, called 3D-Odometry, which extends the standard ...Conference Paper -
Bayesian Programming for Topological Global Localization with Fingerprints
(2004)2004 IEEE International Conference on Robotics and AutomationThis work presents a localization algorithm for indoor environments. The environmental model is topological and the approach describes how a multimodal perception increases the reliability for the topological localization problem for mobile robots, by using the Bayesian programming formalism. For the topological framework the fingerprint concept is used. This type of representation permits a reliable and distinctive environment modeling. ...Conference Paper -
May You Have a Strong (-Typed) Foundation, Why Strong-Typed Programming Languages Do Matter
(2004)2004 IEEE International Conference on Robotics and AutomationProgramming efficient and reliable code can be considered a non-trivial task, as it requires deep understanding of the problem to be solved along with good programming skills. However, software frameworks and programming paradigms can provide a dependable infrastructure upon which better programs can be written and deployed. This allows engineers to focus mainly on their task, while relying on the underlying run-time environment for taking ...Conference Paper -
Open Challenges in SLAM: An Optimal Solution Based on Shift and Rotation Invariants
(2004)2004 IEEE International Conference on Robotics and AutomationThis paper starts with a discussion of the open challenges in the SLAM problem. In our opinion they can be grouped in two main and distinct areas: convergence of the built map and computation requirement for real world application. To deal with the previous problems, a solution in the stochastic map framework based on the concept of the relative map is proposed. The idea consists in introducing a map state, which only contains quantities ...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 -
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