Showing papers in "Robotics and Autonomous Systems in 2005"

TL;DR: A biologically inspired amphibious snake-like robot designed to be capable of anguilliform swimming like sea-snakes and lampreys in water and lateral undulatory locomotion like a snake on ground is constructed.

TL;DR: The autopilot, which is called OCTAVE (Optic flow based Control sysTem for Aerial VEhicles), enables this miniature rotorcraft to carry out complex tasks such as ground avoidance and terrain following, to control risky maneuvers such as automatic take off and automatic landing, and to respond appropriately to wind disturbances.

TL;DR: Research on execution monitoring in its own is still not very common within the field of robotics and autonomous systems, but it is more common that researchers interested in control architectures or e-commerce systems focus on this area.

TL;DR: A novel, laser-based approach for tracking the pose of a high-speed mobile robot that is outstanding in terms of accuracy and computation time and compared to standard scan matching methods in indoor and outdoor environments.

TL;DR: This work presents Robug IIs, a legged climbing robot designed to work in relatively unstructured and rough terrain, which has the capability of walking, climbing vertical surfaces and performing autonomous floor to wall transfer.

TL;DR: A distributed architecture is introduced, within a probabilistic framework for vision-based 3-D mapping, whereby each robot is committed to cooperate with other robots through information sharing, thus preventing the robot to overwhelm communication resources with redundant information.

TL;DR: A navigation strategy that exploits the optic flow and inertial information to continuously avoid collisions with both lateral and frontal obstacles has been used to control a simulated helicopter flying autonomously in a textured urban environment.

TL;DR: A probabilistic environment model which facilitates global localization scheme by means of location recognition, where given a new view the most likely location from which this view came from is determined.

TL;DR: This paper presents a complete system that reads speed signs in real-time, compares the driver's gaze, and provides immediate feedback if it appears the sign has been missed by the driver.

TL;DR: This paper addresses the problem of realizing visual servoing tasks on complex objects in real environments by presenting a set of tracking algorithms that have been used for 10 years to achieve this goal.

TL;DR: A vision system for robotic object manipulation tasks in natural, domestic environments and one important property is that the step from object recognition to pose estimation is completely automatic combining both appearance and geometric models.

TL;DR: A robust automatic parallel parking algorithm for parking in tight spaces under both vehicle localization errors and parking space detection errors and a genetic fuzzy system which uses a genetic algorithm’s learning ability to determine efiective parameters for the developed fuzzy logic controllers is presented.

TL;DR: A novelty filter is proposed that can operate on-line, so that each new input is evaluated for novelty with respect to the data seen so far, and learns to ignore inputs that have been sensed previously, or where similar inputs have been perceived.

TL;DR: Two problem areas, eye microsurgery and thoracic minimally invasive surgery, where computational vision can play a role are presented, and methods to process video images for relevant geometric information and related control algorithms for providing interactive assistance are described.

TL;DR: This system differs from previous ones in terms of the choice of the techniques implemented in the modules and in the integration architecture and can achieve robust and reliable navigation in difficult scenarios that are troublesome for many existing methods.

TL;DR: This work applies coordination graphs to a continuous (robotic) domain by assigning roles to the agents and then coordinating the difierent roles, and demonstrates that, with some additional assumptions, an agent can predict the actions of the other agents, rendering communication super∞uous.

TL;DR: The paper successively describes the robot's future sensors and actuators, and several biomimetic models of the anatomy and physiology of structures in the rat's brain, like the hippocampus and the basal ganglia, which have already been at work on various robots, and that make navigation and action selection possible.

TL;DR: A neural network adaptive controller for diving control of an autonomous underwater vehicle (AUV) is presented, and under a certain relaxed assumptions on the control gain functions, proposed control scheme can guarantee that all the signals in the closed-loop system satisfy to be uniformly ultimately bounded (UUB).

TL;DR: A control strategy allowing us to perform the dynamic walking gait of an under-actuated robot even if this one is subjected to destabilizing external disturbances, based on two stages based on using neural networks.

TL;DR: This work deals with low quality maps based on probabilistic grids, motivated by the goal to develop multiple mobile platforms to be used in rescue environments and addresses map merging using a motion planning algorithm.

TL;DR: It is argued that quantitative performance measures are the first step towards a theory of robot–environment interaction, and the theoretical background to such measures are presented, as well as their practical application to mobile robotics research.

TL;DR: This paper addresses the fusion of controls issued from the control law and the obstacle avoidance module using probabilistic techniques and aims at reactive execution of planned motion in bi-steerable car.

TL;DR: This work compares the traction performance of a wheeled concept, a tracked vehicle concept and a novel concept called the elastic loop mobility system (ELMS), which highlights some limitations of the Bekker theory analysis used here in the determination of mobility characteristics of any vehicle locomotion system.

TL;DR: The work integrates a detailed neural model of auditory localisation in the cricket with a robot morphology that incorporates principles of six-legged locomotion and demonstrates that it can successfully track a cricket calling song over natural terrain.

TL;DR: A nonholonomic path planning method, aiming at taking into considerations of curvature constraint, length minimization, and computational demand, for car-like mobile robot based on cubic spirals, and lends itself to various generalizations.

TL;DR: A novel interactive control paradigm: telecommanding, which is used for Internet-based wheeled robot teleoperation, is proposed, which enables the robot to deliberately respond to expected events while to reactively respond to unexpected events.

TL;DR: The proposed method can directly provide the desired acceleration for mobile robots and can transform the dynamic motion-planning problem of mobile robots into a control problem of the integrated planning-and-control system.

TL;DR: An efficient and simple method for searching image and model feature correspondences, which has been designed for indoor mobile robot self-location, will be highlighted: this is a three-stage method based on the interpretation tree search approach.

TL;DR: The nature of these chunks in an urban visual navigation context is investigated, and a method for implementing the corresponding robot primitives such as “take the nth turn right/left” is proposed.

TL;DR: Simulations and real robot experiments are presented that demonstrate speed improvements accomplished by the sampling strategies, centralized robot coordination across Dynamic Robot Networks, on-the-fly motion planning to avoid moving and previously unknown obstacles and autonomous robot navigation towards individual goal locations.