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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
This paper presents a distributed approach for exploring and triangulating an unknown region using a multi- robot system.  ...  We validate our theoretical results with experiments on triangulating a region with a system of low-cost robots.  ...  In this paper, we demonstrate that triangulating the workspace with a multi-robot system is a useful approach to dispersion and monitoring.  ... 
arXiv:1402.0400v1 fatcat:3cpgibu4ezgk3a5xw6qyfoih6e

Architectures and Control of Networked Robotic Systems [chapter]

Nikolaus Correll, Daniela Rus
2013 Handbook of Collective Robotics  
Introduction A networked robot system is a system comprised of multiple robots in which robots actively communicate with each other, sensors, or other computational agents using some form of wireless communication  ...  Networked robot systems are ensembles of robots that enhance their individual capabilities by sharing perception, computation and actuation capabilities with each other to solve problems that an individual  ...  Be it by receiving and triangulating position information from Global Positioning System Satellites or by exchanging range and bearing information with neighboring robots.  ... 
doi:10.1201/b14908-5 fatcat:o5kvfng4gffidfkakj23s7tmca

COOPERATIVE EXPLORATION FOR USAR ROBOTS WITH INDIRECT COMMUNICATION

Vittorio Amos Ziparo, Alexander Kleiner, Alessandro Farinelli, Luca Marchetti, Daniele Nardi
2007 IFAC Proceedings Volumes  
To coordinate a team of robots for exploration is a challenging problem, particularly in unstructured areas, as for example post-disaster scenarios where direct communication is severely constrained.  ...  To share a common frame of reference among robots we use a feature based SLAM approach (where features are RFIDs). The approach has been evaluated on a 3D simulation based on USARSim.  ...  During execution, robots are coordinated via RFID chips and perform a local search which allows them to explore an environment with low computational overhead and communication constraints.  ... 
doi:10.3182/20070903-3-fr-2921.00094 fatcat:3tlnuxggmvdppjoxrj4a6opayi

Scale-free coordinates for multi-robot systems with bearing-only sensors

Alejandro Cornejo, Andrew J. Lynch, Elizabeth Fudge, Siegfried Bilstein, Majid Khabbazian, James McLurkin
2013 The international journal of robotics research  
Scale-Free Coordinates for Multi-Robot Systems with Bearing-only Sensors Alejandro Cornejo, Andrew J.  ...  Pose Estimation With Low-Resolution Bearing-Only Sensors. M.S. thesis, Rice University, 2011. 28. J. M. O’Kane and S. M. LaValle. Comparing the power of robots.  ... 
doi:10.1177/0278364913486362 fatcat:bg3hrl36b5a2hkkhz56xbb6n6y

Endomicroscopy for Computer and Robot Assisted Intervention

Siyang Zuo, Guang-Zhong Yang
2017 IEEE Reviews in Biomedical Engineering  
Endomicroscopy is a new technique that allows human tissue to be characterized in vivo, and in situ, circumventing the need for conventional biopsy and histology.  ...  Recently, advances in high-speed imaging, mosaicing and robotics have aimed to address these difficulties.  ...  A bespoke bearing and a passive linear structure are used to control image rotation and ensure consistent tool-tissue contact.  ... 
doi:10.1109/rbme.2017.2686483 pmid:28333642 fatcat:4zn3jbfigrd6vi6et2otmehi54

An active visual estimator for dexterous manipulation

A.A. Rizzi, D.E. Koditschek
1996 IEEE Transactions on Robotics and Automation  
The practical success of this system can be attributed to the interconnection of two strongly nonlinear dynamical systems: a novel triangulating state estimator; and an image plane window controller.  ...  The practical success of this system can be attributed to the interconnection of two strongly nonlinear dynamical systems: a novel triangulating state estimator; and an iniage plane window controller.  ...  (perhaps generated via a map on the state space), and ns to be the sensor noise introduced by thresholding a finite resolution image before computation of the moments.  ... 
doi:10.1109/70.538975 fatcat:ffpryve2abfbdhpurigpz4l2ma

Recent advances in simultaneous localization and map-building using computer vision

Zhenhe Chen, Jagath Samarabandu, Ranga Rodrigo
2007 Advanced Robotics  
This article complements other surveys in this field by being current as well as reviewing a large body of research in the area of vision-based SLAM, which has not been covered.  ...  Simultaneous localization and map-building (SLAM) continues to draw considerable attention in the robotics community due to the advantages it can offer in building autonomous robots.  ...  Acknowledgments This work was financially supported by the National Sciences and Engineering Research Council (NSERC) of Canada, Precarn Inc. and the University of Western Ontario.  ... 
doi:10.1163/156855307780132081 fatcat:j3utcidb4nebfoucgt5b2dmpz4

Toward Robot Perception through Omnidirectional Vision [chapter]

José Gaspar, Niall Winters, Etienne Grossmann, José Santos- Victor
2007 Studies in Computational Intelligence  
In general, a single image taken by a calibrated camera provides only bearing measurements. Thus, triangulation is a more "natural" way to calculate self-localisation.  ...  Omnidirectional images can be generated by a number of different systems which can be classified into four distinct design groupings: Camera-Only Systems; Multi-Camera -Multi-Mirror Systems; Single Camera  ... 
doi:10.1007/978-3-540-72696-8_9 fatcat:n7ektnhqr5gjdeyjuatrp4bihq

Active Sensing for Search and Tracking: A Review [article]

Luca Varotto, Angelo Cenedese, Andrea Cavallaro
2021 arXiv   pre-print
APE control laws enable active sensing by satisfying either pure-exploitative or pure-explorative criteria.  ...  APE is a key task for search and rescue missions, wildlife monitoring, source term estimation, and collaborative mobile robotics.  ...  In this framework, the measurements col- lows to refine single-sensor measurements and obtain more lected by every channel are aggregated in a single multi-sensor accurate  ... 
arXiv:2112.02381v1 fatcat:zxptl2lhcne6hjephtrefoy5ju

Active vision in robotic systems: A survey of recent developments

Shengyong Chen, Youfu Li, Ngai Ming Kwok
2011 The international journal of robotics research  
Planning for robot vision is a complex problem for an active system due to its sensing uncertainty and environmental uncertainty.  ...  With increasing demand for robotic automation, research in this area has received much attention.  ...  Dynamic configuration In an active vision system, since the robot needs to move from one place to another to perform a multi-view task, a traditional vision sensor with fixed structure is often inadequate  ... 
doi:10.1177/0278364911410755 fatcat:pdpxmt4a5nhdvdojcsassxox6i

2019 Index IEEE Robotics and Automation Letters Vol. 4

2019 IEEE Robotics and Automation Letters  
., +, LRA Oct. 2019 3836-3843 Manufacturing systems Dynamic Resource Task Negotiation to Enable Product Agent Exploration in Multi-Agent Manufacturing Systems.  ...  Suarez-Hernandez, A., +, LRA July 2019 2282-2288 Dynamic scheduling Dynamic Resource Task Negotiation to Enable Product Agent Exploration in Multi-Agent Manufacturing Systems.  ...  Permanent magnets Adaptive Dynamic Control for Magnetically Actuated Medical Robots.  ... 
doi:10.1109/lra.2019.2955867 fatcat:ckastwefh5chhamsravandtnx4

A Taxonomy of Vision Systems for Ground Mobile Robots

Jesus Martinez-Gomez, Antonio Fernandez-Caballero, Ismael Garcia-Varea, Luis Rodriguez, Cristina Romero-Gonzalez
2014 International Journal of Advanced Robotic Systems  
The taxonomy described is devised from a novel perspective, namely in order to respond to the main questions posed when designing robotic vision systems: why?, what for?, what with?, how?, and where?  ...  This paper introduces a taxonomy of vision systems for ground mobile robots. In the last five years, a significant number of relevant papers have contributed to this subject.  ...  A big challenge arises with multi-sensor systems. Multi-sensor systems consist of several types of sensors, which are installed on fixed or mobile devices.  ... 
doi:10.5772/58900 fatcat:ydrtcuwnbrbhdgjxmw3rhfa7oi

Aerial Collective Systems [chapter]

Jean-Christophe Zufferey, Sabine Hauert, Timothy Stirling, Severin Leven, James Roberts, Dario Floreano
2013 Handbook of Collective Robotics  
Acknowledgements This work has been supported by the following projects and funding agencies: The Future Emerging Technologies (FET IST-022888) "Swarmanoid Project" funded by the European Commission; the  ...  The developed hardware weighs only some 100g with a power consumption of ≈ 5W, but range (≈ 10m) and resolution (≈ 15 o ) are low and the field-of-view of ≈ 30 o (horizontal and vertical) is small.  ...  The sensor is significantly smaller and lighter than previous infrared relative positioning systems with a diameter of 70 mm and a weight of only 20 g. must be acknowledged by researchers working within  ... 
doi:10.1201/b14908-21 fatcat:gim3imiic5ddbjgmobpap3l4fq

2020 Index IEEE Transactions on Instrumentation and Measurement Vol. 69

2020 IEEE Transactions on Instrumentation and Measurement  
Converter Using All-Digital Nested Delay-Locked Loops With 50-ps Resolution and High Throughput for LiDAR TIM Nov. 2020 9262-9271 Helsen, J., see Huchel, L., TIM July 2020 4145-4153 Hemavathi, N.,  ...  June 2020 3812-3817 Henry, M.P., The Prism: Recursive FIR Signal Processing for Instrumentation Applications; TIM April 2020 1519-1529 Heo, S., see Jung, J.H., TIM Oct. 2020 7530-7541 Hernandez, A.  ...  ., +, TIM June 2020 3555-3565 Optical Scanning of a Laser Triangulation Sensor for 3-D Imaging.  ... 
doi:10.1109/tim.2020.3042348 fatcat:a5f4fsqs45fbbetre6zwsg3dly

UNION: underwater intelligent operation and navigation

V. Rigaud, E. Coste-Maniere, M.J. Aldon, P. Probert, M. Perrier, P. Rives, D. Simon, D. Lang, J. Kiener, A. Casal, J. Amar, P. Dauchez (+1 others)
1998 IEEE robotics & automation magazine  
The Union project brings together seven European research groups working on underwater vehicles, robotics and intelligent sensing systems: (R sum : Le projet Union nanc par le programme de recherche europ  ...  A complex canonical mission in the eld of o shore Inspection Maintenance and Repair tasks was chosen to illustrate the integration of all the results.  ...  The structure is known via a priori environment modeling.  ... 
doi:10.1109/100.667323 fatcat:yz5x365exvemrcnfoesh6stdve
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