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Competitive Disconnection Detection in On-Line Mobile Robot Navigation [chapter]

Yoav Gabriely, Elon Rimon
Springer Tracts in Advanced Robotics  
This paper concerns target unreachability detection during on-line mobile robot navigation in an unknown planar environment.  ...  A competitive on-line navigation algorithm for a disc-shaped mobile robot, called CBU G, is described.  ...  Before discussing target unreachability detection, we summarize the relevant literature. Mobile robot on-line algorithms are discussed in the robotics and computational geometry literature.  ... 
doi:10.1007/978-3-540-68405-3_16 fatcat:7n6ywhvexbbl5etziyv5jqnsby

CBUG: A Quadratically Competitive Mobile Robot Navigation Algorithm

Y. Gabriely, E. Rimon
2008 IEEE Transactions on robotics  
This paper is concerned with the problem where a mobile robot of size D has to navigate to a target in an unknown planar environment.  ...  Moreover, it is shown that in general any on-line navigation algorithm must have at least a quadratic competitive performance.  ...  In particular, we have shown that on-line mobile robot navigation to an apriori known target belongs to the quadratic competitive complexity class.  ... 
doi:10.1109/tro.2008.2006237 fatcat:twojsvcv4jdo5oesewh4yrij4q

Competitive Complexity of Mobile Robot On Line Motion Planning Problems [chapter]

Yoav Gabriely, Elon Rimon
2005 Springer Tracts in Advanced Robotics  
This paper is concerned with on-line problems where a mobile robot of size D has to achieve a task in an unknown planar environment whose geometry is acquired by the robot during task execution.  ...  Given an on-line task, its competitive complexity class is a pair of lower and upper bounds on the competitive performance of all on-line algorithms for the task, such that the two bounds satisfy the same  ...  For example, in the on-line navigation problem a disconnection proof would be a detection that the target is unreachable from the start point.  ... 
doi:10.1007/10991541_12 fatcat:iiqz6zg6uzgfngfagvd3goooz4

COMPETITIVE COMPLEXITY OF MOBILE ROBOT ON-LINE MOTION PLANNING PROBLEMS

YOAV GABRIELY, ELON RIMON
2010 International journal of computational geometry and applications  
This paper is concerned with on-line problems where a mobile robot of size D has to achieve a task in an unknown planar environment whose geometry is acquired by the robot during task execution.  ...  Given an on-line task, its competitive complexity class is a pair of lower and upper bounds on the competitive performance of all on-line algorithms for the task, such that the two bounds satisfy the same  ...  For example, in the on-line navigation problem a disconnection proof would be a detection that the target is unreachable from the start point.  ... 
doi:10.1142/s0218195910003293 fatcat:3vyfqlogyfdsrcysugak5phoia

Prototyping Small Robots for Junior Competitions: MicroFactory Case study

D. Neves, M. Silva, J. Gonçalves, P. Costa
2016 IFAC-PapersOnLine  
In this paper it is discussed the proposal of a small robot prototype to be applied in the MicroFactory competition, a downsized version of the Robot@Factory competition.  ...  The Robot@Factory competition takes place in an emulated factory plant, where Automatic Guided Vehicles (AGVs) must cooperate to perform tasks.  ...  ACKNOWLEDGEMENTS This work is financed by the ERDF European Regional Development Fund through the Operational Programme for Competitiveness and Internationalisation -COMPETE 2020 Programme, and by National  ... 
doi:10.1016/j.ifacol.2016.07.164 fatcat:yf5pf6z575ezdfru6dn6c2bskq

Exploration via Structured Triangulation by a Multi-Robot System with Bearing-Only Low-Resolution Sensors [article]

SeoungKyou Lee, Aaron Becker, Sándor P. Fekete, Alexander Kröller,, James McLurkin
2014 arXiv   pre-print
Algorithms can store information in this physical data structure, such as a routing table for robot navigation Our algorithm builds a triangulation in a closed environment, starting from a single location  ...  We validate our theoretical results with experiments on triangulating a region with a system of low-cost robots.  ...  If robot u receives a disconnect message from v, it has no more incident frontier edges, and transitions to the Internal state in lines 17-19. This is illustrated in Fig. 4b ) by robot l 0 .  ... 
arXiv:1402.0400v1 fatcat:3cpgibu4ezgk3a5xw6qyfoih6e

MRBUG: A Competitive Multi-Robot Path Finding Algorithm

Shahar Sarid, Amir Shapiro, Yoav Gabriely
2007 Engineering of Complex Computer Systems (ICECCS), Proceedings of the IEEE International Conference on  
We prove that in general any on-line navigation algorithm must have at least a quadratic competitive performance.  ...  This paper describes a new on-line navigation algorithm, called MRBUG (short for Multi-Robot BUG), which requires constant memory and has a quadratic competitive performance.  ...  In contrast, our objective is to identify the competitive relationship governing the fully general on-line navigation problem for multiple robots.  ... 
doi:10.1109/robot.2007.363096 dblp:conf/icra/SaridSG07 fatcat:x7untrxazzhqhio32u6ja6p7c4

Maximum-Leaf Spanning Trees for Efficient Multi-Robot Recovery with Connectivity Guarantees [chapter]

Golnaz Habibi, James McLurkin
2014 Springer Tracts in Advanced Robotics  
DMLST recovery has been tested in simulation, and implemented on a system of thirteen robots. While a basic recovery fails in all experiments, the DMLST recovery succeeds efficiently in most trials.  ...  We present empirical results on the competitive ratio of the DMLST and it is very good, approaching the optimal solution for our communication network.  ...  The authors would like to thank Artie Shen for his great efforts in simulating the brute force algorithm to compute the competitive ratio. They would also like to thank Dr.  ... 
doi:10.1007/978-3-642-55146-8_20 fatcat:skv3xt74qneq3dt2e3uj773pfq

Towards heterogeneous robot teams for disaster mitigation: Results and performance metrics from RoboCup rescue

Stephen Balakirsky, Stefano Carpin, Alexander Kleiner, Michael Lewis, Arnoud Visser, Jijun Wang, Vittorio Amos Ziparo
2007 Journal of Field Robotics  
In order to successfully compete in this competition, teams need to field multi-robot solutions that cooperatively explore and map an environment while searching for victims.  ...  The RoboCup Federation has recognized this, and has created the new Virtual Robots competition to complement its existing physical robot and agent competitions.  ...  Acknowledgments The authors thank the many enthusiastic undergraduate and graduate students that contributed to the development of USARSim and of the various teams described in this paper.  ... 
doi:10.1002/rob.20212 fatcat:c7wrqkdopbeghfqsa3igj3fdfy

Landmark manipulation system for mobile robot navigation

Mohammed Elmogy
2010 The 2010 International Conference on Computer Engineering & Systems  
Landmark manipulation is identified as one important research area in robot navigation systems.  ...  In mobile robot scenarios, it is expected that the robot autonomously navigates through home or office environments and processes objects/landmarks during navigation.  ...  Object manipulation in vision-based robot navigation is used to detect and classify landmarks during navigation.  ... 
doi:10.1109/icces.2010.5674836 fatcat:p2hqshhlnjh4hhltrcqogfw6ba

Reconfigurable swarm robots for structural health monitoring: a brief review

Mohammad R. Jahanshahi, Wei-Men Shen, Tarutal Ghosh Mondal, Mohamed Abdelbarr, Sami F. Masri, Uvais A. Qidwai
2017 International Journal of Intelligent Robotics and Applications  
Recent advancements in robotic systems have led to the development of reconfigurable swarm robots (RSR) that can change their shape and functionality dynamically, without any external intervention.  ...  Newly-developed reconfigurable robots are expected to bring a radical change in the prevailing structural health monitoring techniques, thus augmenting the efficiency, accuracy and affordability of inspection  ...  Acknowledgements This study was supported in part by Qatar National Research Fund.  ... 
doi:10.1007/s41315-017-0024-8 dblp:journals/ijira/JahanshahiSMAMQ17 fatcat:66oqqtfub5bwrmbgurtt2feolm

Autonomous Fire Fighting with a UAV-UGV Team at MBZIRC 2020 [article]

Jan Quenzel and Malte Splietker and Dmytro Pavlichenko and Daniel Schleich and Christian Lenz and Max Schwarz and Michael Schreiber and Marius Beul and Sven Behnke
2021 arXiv   pre-print
Measurements from LiDAR and thermal cameras are fused to track fires, while relative navigation ensures successful extinguishing.  ...  We analyze and discuss our successful participation during the MBZIRC 2020, present further experiments, and provide insights into our lessons learned from the competition.  ...  state-of-the-art in perception, navigation, and mobile manipulation.  ... 
arXiv:2106.06444v1 fatcat:7rc7st53xfd67cumj4eppwrxaq

Active Recognition and Manipulation for Mobile Robot Bin Picking [chapter]

Dirk Holz, Matthias Nieuwenhuisen, David Droeschel, Jörg Stückler, Alexander Berner, Jun Li, Reinhard Klein, Sven Behnke
2014 Springer Tracts in Advanced Robotics  
In this work, we present a complete system including active object perception and grasp planning for bin picking with a mobile robot.  ...  During operation, objects are detected in the scene using a particularly robust probabilistic graph matching.  ...  Our robot Cosero has been designed for mobile manipulation and intuitive human-robot interaction tasks, which were tested successfully in RoboCup@Home competitions [4] .  ... 
doi:10.1007/978-3-319-03838-4_7 fatcat:ayarclzjerai7lh2dv2dwpktqu

Active Recognition and Manipulation for Mobile Robot Bin Picking [chapter]

Dirk Holz, Matthias Nieuwenhuisen, David Droeschel, Jörg Stückler, Alexander Berner, Jun Li, Reinhard Klein, Sven Behnke
2014 Springer Tracts in Advanced Robotics  
In this work, we present a complete system including active object perception and grasp planning for bin picking with a mobile robot.  ...  During operation, objects are detected in the scene using a particularly robust probabilistic graph matching.  ...  Our robot Cosero has been designed for mobile manipulation and intuitive human-robot interaction tasks, which were tested successfully in RoboCup@Home competitions [4] .  ... 
doi:10.1007/978-3-319-02934-4_7 fatcat:a5lwhixrg5espfojqtlcr7ytli

A BIM and UWB integrated Mobile Robot Navigation System for Indoor Position Tracking Applications

JeeWoong Park, Yong K. Cho, Diego Martinez
2016 Journal of Construction Engineering and Project Management  
This research presents the development of a self-governing mobile robot navigation system for indoor construction applications.  ...  The research demonstrated that the path planner utilizing a BIM model as a navigation site map could effectively extract an efficient path for the robot, and could be executed in a real-time application  ...  The robot navigation on our mobile wireless system utilized left and right wheel encoders for odometry measurements.  ... 
doi:10.6106/jcepm.2016.6.2.030 fatcat:inojdp4akvdircmvqziv5xatzy
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