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The use of collaborative robot systems to perform specific tasks is a strong research area on robotic systems. Robot platforms are becoming cheaper, increasing the number of applications and new tasks variations on research labs. A collaborative system that join together small mobile robots to scan some specific area and a drone to set their position on the ground is a good example of the possible...
This paper addresses the problem of controlling the posture of a dual wheeled mobile terrestrial robot, with movement constraints with the objective of detect and follow a planar moving target, using a single fixed vision sensor. The main challenge addressed is to keep the robot oriented in the same direction as the target. In order to accomplish it, a computationally simple control algorithm is proposed...
In supervised machine learning applications, a data set of training and validation features and labels is required to train a neural network. In this paper, we present a remote-controlled, mobile robot and describe software used to generate a data set for vision-based, supervised machine learning applications. We present results from an experiment, which validates the developed platform, and also...
Mobile robot localization has been considered to be an important task in the field of robotics research. It is known that it is difficult to estimate the self-position in dynamic environments where the positions of objects used as landmarks change. In this paper, we propose a robust method to estimate self-position from the first person view captured by a camera on a robot using Recurrent Convolutional...
This paper proposes a system for caring a physically impaired person by a mobile robot employing cooperative object recognition. It is a well-known fact that object recognition is not an easy task for a robot particularly in a real environment. It is, on the contrary, easy for a human. In the proposed system, a mobile robot goes to a spot where a user wishes to go in place of him/her and transfers...
The remote controls which are used to control the robots are very expensive. In addition, one remote control is required for each robot. The goal of this work is to control multi robots at the same time by publish a single ROS message using one Android device. The user can drive robots with help of a variety of sensors and camera data which are displayed on the Android device screen, even if the user...
This paper presents the simulation of path following by an autonomous omnidirectional mobile robot with an onboard monocular camera. The control of the mobile robot for performing the aforementioned task is done with a 2D visual servoing by considering point features. Artificial landmarks are supposed to be placed in the robot's navigation environment. We performed this simulation in two ways. In...
The aim of this work is to propose an experimental platform to perform tests on mobile robot systems. The first stage of this work is to build a small arena equipped with a camera and a central computer able to communicate with tested robots. Then, we developed a program to process the images acquired by the camera to locate the robot based on the Hough and KLT calibration algorithms. The second phase...
Reasoning about programs is an important component of computational thinking. Laws of computation give meaning to the formalisms in which programs are expressed, and can be used to predict or explain program behavior, or to uncover bugs. This paper presents Calypso, a language inspired by Microsoft's Kodu Game Lab but designed for programming actual mobile robots rather than characters in a virtual...
In this paper road marking recognition based on computer vision technology is considered. This system provides autonomous motion in public road of mobile robot that has kinematics of four-wheeled drive vehicle. As a result successful tests were taken on practice ground with road markings without considering static and dynamic obstacles. Obtained results prove the truth of offered solutions.
The method of adaptive control of the parameters of the onboard vision system of an autonomous mobile robot operating on an unknown stage is considered. The parameters of the camera orientation and the focal length of the lens of the vision system are subject to control. The control is carried out in the normal mode of operation of the vision system of the autonomous mobile robot by comparing the...
This paper deals with control system of skid steered robotic vehicle. Skid steering offers very simple way to achieve good traction on rough terrain. On the other hand it is difficult to precisely control the speed and the position of the vehicle. The presented solution uses modern approaches to control drives of the robotic vehicle such as visual odometry with stereo camera in combination with precise...
As indoor mobile robots become more popular among ordinary users, autonomous movement control using robot sensors is required. Because GPS localization has a poor precision under indoor environments, visual information from its sensors is important for indoor robots to automatically move around and avoid obstacles. In this study, we proposed a method to rapidly construct a coarse environment map based...
The reliable moving direction of the mobile robot helps stable navigation as well as robust self-localization. Since the sun is one of visible dominant landmarks for outdoor navigation, in this paper, we describe a new estimation algorithm for the mobile robot direction based on the sun azimuth angle from omnidirectional image. The proposed approach can be applicable outdoor navigated by using only...
A Smart Wheelchair (SW) is an electric powered wheelchair, equipped with sensors and computational capabilities, with the general aim of both enhancing independence and improving perceived quality of life of the impaired people using it. SWs belong to the class of semi-autonomous mobile robots, designed to carry the user from one location to another of his/her choice. For such systems, the localization...
In this paper we present an end to end object modeling pipeline for an unmanned aerial vehicle (UAV). We contribute a UAV system which is able to autonomously plan a path, navigate, acquire views of an object in the environment from which a model is built. The UAV does collision checking of the path and navigates only to those areas deemed safe. The data acquired is sent to a registration system which...
This work presents KMVO, a ground plane based visual odometry that utilizes the vehicle's kinematic model to improve accuracy and robustness. Instead of solving a generic image alignment problem, the motion parameters of a differential drive vehicle can be directly estimated from RGB- D image data. In addition, a method for outlier rejection is presented that can deal with large percentages of outliers...
Practically, today most mobile devices, such as robots require to have ability to determine their pose (location and orientation) from low-cost sensors with high accuracy. This paper presents a novel fusion method to determine the pose estimation of an autonomous mobile robot using inertial sensors and a camera. Speeded up robust features (SURF) is used as a visual algorithm to detect natural landmarks...
Humankind encounters with unprecedented number and scales of disasters which stem from natural and human-made causes. So many victims have suffered severely in those catastrophes that compelled generation and development of search and rescue technology to help victims in future. One of the most important application areas within this scope is the search and rescue robots. The robots equipped with...
This paper presents a complete vision guided real-time approach to robot navigation in urban narrow roads based on drivable road area detection using deep learning. In this approach, an illuminant-invariant road database is created from captured images. This database is used to train the Deep Belief Neural Network (DBNN) for road detection. During navigation, a camera takes a snapshot of the road...
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