Journal ArticleDOI
Ways to Tell Robots Where to Go - Directing Autonomous Robots Using Topological Instructions
David Rawlinson,Ray Jarvis +1 more
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TLDR
A GVD-derived topology of spatial affordances is described, in which junctions are defined by the physical capabilities of the navigating robot, and this topology follows walls in open spaces to ensure robust edge transition so that all features can be modeled egocentcally.Abstract:
This article presents our attempts to direct an autonomous robot using efficient and universal topological instructions, which can be incrementally interpreted by a moving robot that does not have its own map initially. Many real-world experiments are included, featuring autonomous exploration and mapping. Surprisingly, we conclude and show that for this type of navigation, abilities in object recognition are more important than better mapping. The article describes a GVD-derived topology of spatial affordances, in which junctions are defined by the physical capabilities of the navigating robot. Similar to the extended GVD, our topology follows walls in open spaces to ensure robust edge transition so that all features can be modeled egocentcally. The specified wall-following distance is calculated to maximize the stability of the egocentrically modeled topology even when obstacle detection is intermittent.read more
Citations
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DissertationDOI
Semi-autonomous navigation of an assistive robot using low throughput interfaces
TL;DR: A semi-autonomous navigation system for assistive robots based on a novel human-robot interaction principle, it is particularly well suited to low throughput user interfaces and explores the use of a promising electroencephalography (EEG) based brain-based system for testing its concept.
Proceedings ArticleDOI
A self-localization and path planning technique for mobile robot navigation
Jia-Heng Zhou,Huei-Yung Lin +1 more
TL;DR: A system to cope with the problem of autonomous mobile robot navigation that is able to perform path planning and localize the robot in the real world environment is proposed.
Journal ArticleDOI
Dedicated Filter for Robust Occupancy Grid Mapping
TL;DR: A novel architecture of sensor fusion frame work in which a dedicated filter (DF) is proposed to increase the robustness of the occupancy grid for indoor environment to improve the reliability of the mobile robot mapping multisensory data fusion.
A Theory of Strongly Orthotropic Continuum Mechanics
TL;DR: In this paper, a non-symmetric strain tensor field was proposed for strongly orthotropic materials, and a rotation tensor was proposed to give a new interpretation of rigid body rotation.
Proceedings ArticleDOI
Investigation of a target reachability by a manipulator in an unknown environment
TL;DR: In this article, an n-link manipulator can be found to discover in a finite number of steps whether a given target configuration is reachable or not, given a theorem stating that if the manipulator moves according to the algorithm it will discover the target configuration.
References
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Journal ArticleDOI
Maximum likelihood from incomplete data via the EM algorithm
Journal ArticleDOI
Distinctive Image Features from Scale-Invariant Keypoints
TL;DR: This paper presents a method for extracting distinctive invariant features from images that can be used to perform reliable matching between different views of an object or scene and can robustly identify objects among clutter and occlusion while achieving near real-time performance.
Book
Probabilistic Robotics
TL;DR: This research presents a novel approach to planning and navigation algorithms that exploit statistics gleaned from uncertain, imperfect real-world environments to guide robots toward their goals and around obstacles.
Journal ArticleDOI
Using occupancy grids for mobile robot perception and navigation
TL;DR: An approach to robot perception and world modeling that uses a probabilistic tesselated representation of spatial information called the occupancy grid, a multidimensional random field that maintains stochastic estimates of the occupancy state of the cells in a spatial lattice is reviewed.
Journal ArticleDOI
Globally Consistent Range Scan Alignment for Environment Mapping
F. Lu,Evangelos E. Milios +1 more
TL;DR: The problem of consistent registration of multiple frames of measurements (range scans), together with therelated issues of representation and manipulation of spatialuncertainties are studied, to maintain all the local frames of data as well as the relative spatial relationships between localframes.
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