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This work presents a study to determine the improvement of the simultaneous position estimations of several Mobile Robots (MRs) adding the relative distances between them, regarding independent position estimations for each MR. To evaluate the performance of the proposal, it is supposed that the localization scenario is composed of an Ultrasonic Local Positioning System (ULPS) and two MRs with odometry...
In this paper we propose a new approach to recovering the relative position and orientation of a pair of platforms moving on the plane by fusing the kinds of estimates provided by visual odometry systems with distance measurements obtained from ranging radio systems. By combining these two complementary sources of information we are able to provide estimates that could not be obtained using either...
This paper studies the optimal configuration of Unmanned Surface Vessels (USVs) for Moving Long Baseline (MLBL) positioning system. The optimal configuration includes the optimal formation of USVs, the optimal distance between USV and Autonomous Underwater Vehicle (AUV), the optimal number of USVs, and the optimal parameter of distance measurement error. In previous paper, we establish a cost function...
As the research in indoor localization moves on, more and more algorithms and systems are proposed by academia as well as industry. However, most approaches are evaluated in simulation or small experiments. The results are often hard to compare as assumptions differ between all settings and the setups vary from lab conditions to real life scenarios. As one of the biggest problems of range based indoor...
The combination of different characteristics of airborne ultrasonic transducers for ranging applications opens up new applications for autonomous navigation systems in robotics. The features of a Piccolo C2000 MCU are suitable for the design of a ranging system with four channels. Each channel has different operating range and accuracy depending on the transducer characteristics and the implemented...
I survey the state of the art on high-precision position estimation in indoor environments with a focus on our own work at the Freie Universita¨t Berlin. Indoor position estimation methods are introduced and shown to be sensitive to underlying assumptions on errors distributions. Performance of algorithms is shown to be location dependent. We compare results obtained by simulation to results obtained...
The use of groups of autonomous marine vehicles has enormous potential in numerous marine applications, perhaps the most relevant of which is the surveying and exploration of the oceans, still widely unknown and misunderstood. In many mission scenarios requiring the concerted operation of multiple marine vehicles carrying distinct, yet complementary sensor suites, relative positioning and formation...
In autonomous ground systems, developing a clear model of the surroundings is crucial for operating in any environment. Three-dimensional light detection and ranging (LIDAR) sensors, such as the Velodyne HDL-64E S2, are powerful tools for robotic perception. However, these sensors generate large data sets exceeding one million points per second that can be difficult to use on space, power, and processing...
In this paper we investigate the creation of an heterogeneous underwater network with static and mobile assets cooperating together in coordinated missions using acoustic links. Each underwater device combines communication, networking, and sensing capabilities, and cooperates with the other devices to accomplish a given task. The flexibility and capability of the proposed system allows to overcome...
To improve the positioning accuracy of the vision system for apple-picking robot, a method characterized by a marker to recover the spatial location of the apple is proposed. Then the spatial location of the apple obtained with the stem as the matched point is accomplished to get its corresponding depth value of different working distances. Finally, the measured distance with the marker is as a reference...
In the paper an RBF-ANN (Radial Basis Function Artificial Neural Network) based localization of a mobile robot and environment modeling is proposed. An ultrasonic distance measurement unit is used for scanning the mobile robot's environment. The environment is learned by the RBF-ANN and the result is compressed in the network weights. To each specific position/orientation of the robot corresponds...
A previously conducted study on human-human communication in the context of itinerary requests in public space resulted in “feedback” being the most powerful influencing factor regarding the successfulness of conversations between humans. In this paper, we report on a subsequently performed Wizard-of-Oz (WOz) experiment that applied the results from the human-human study to human-robot interaction...
Accurate localization in wireless sensor actuator networks (WSANs) is crucial since a primary purpose in their deployments is accomplishing tasks based on a spatial dimension in the environment — be it sensor data collection or actuation.
The core of current work on context aware systems involves small groups of devices interacting with a single user or a small groups of users in system configurations specifically designed for often narrowly defined applications. On the other hand, smart phones, home automation devices, robots and other intelligent systems are becoming ubiquitous and are increasingly equipped with flexible networking...
One of the most challenging problems of field robots is self-localization, which involves incremental update of position while in motion. Though wheel based odometry is cheaper to implement its accuracy degrades when wheels slip. In this paper performance of low-cost visual odometry approach is experimented as a feasibility test for field robot localization. We have used a downward-facing camera and...
Stereo vision systems in a Robotic navigation environment determine the depth in the form of a depth map image from two or more images which are taken at the same time, but from slightly different viewpoints. Ground suppression from depth map is essential for object reconstruction in 3D environment as the ground surface is considered as traveling medium than as an object. Ground separated depth map...
Visual odometry is a new navigation technology using video data. For long-range navigation, an intrinsic problem of visual odometry is the appearance of drift. The drift is caused by error accumulation, as visual odometry is based on relative measurements, and will grow unboundedly with time. The paper first reviews algorithms which adopt various methods to suppress this drift. However, as far as...
Based on the DSP controlling of TI company kind of design of wheeled mobile robot platform design, the purpose is to make the control system of soccer robber more stable and efficient The design makes full use of the resources of TMS320F2812 event manager constitutes electric machine control module, ultrasonic ranging module, infrared communication module and temperature compensation module. Adopting...
The position of a sound source is an important information for robotic systems to be extracted from a sound. Of the three spherical coordinates (azimuth, elevation, distance) only the azimuth direction is extracted in most robot audition systems. So far rarely investigated is the issue of estimating the distance between robot and sound source. In this article we describe a study on distance estimation...
Advancing research into autonomous micro aerial vehicle navigation requires data structures capable of representing indoor and outdoor 3D environments. The vehicle must be able to update the map structure in real time using readings from range-finding sensors when mapping unknown areas; it must also be able to look up occupancy information from the map for the purposes of localization and path-planning...
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