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Landmark-based Matching Algorithm for Cooperative Mapping by Autonomous Robots [chapter]

Göksel Dedeoglu, Gaurav S. Sukhatme
2000 Distributed Autonomous Robotic Systems 4  
This paper describes a landmark-based algorithm for map matching, and demonstrates its use in e ciently combining topological maps of indoor environments built by autonomous mobile robots.  ...  Using the match algorithm, they eventually merge their maps into a topologically correct single map in real time, based only on the feature sets they have discovered independently.  ...  Acknowledgments The authors would like to thank Kale Harbick for hardware and operating system support, and Richard Vaughan for helping with demonstrations.  ... 
doi:10.1007/978-4-431-67919-6_24 fatcat:7lofpa46jjgttaszmljc7fvxae

Autonomous Vehicles Navigation with Visual Target Tracking: Technical Approaches

Zhen Jia, Arjuna Balasuriya, Subhash Challa
2008 Algorithms  
It can be concluded that it is very necessary to develop robust visual target tracking based navigation algorithms for the broad applications of autonomous vehicles.  ...  This paper surveys the developments of last 10 years in the area of vision based target tracking for autonomous vehicles navigation.  ...  Visual Target Tracking for Multiple Mobile Robots Cooperation Multiple mobile robots (autonomous vehicles) cooperation means that each mobile robot plans its path based on other robots' navigation information  ... 
doi:10.3390/a1020153 fatcat:rasy5qe7zjdi5flbhezlaeblcu

On the design and development of a rough terrain robot for rescue missions

J. Suthakorn, S.S.H. Shah, S. Jantarajit, W. Onprasert, W. Saensupo, S. Saeung, S. Nakdhamabhorn, V. Sa-Ing, S. Reaungamornrat
2009 2008 IEEE International Conference on Robotics and Biomimetics  
This paper introduces our development of a semi-autonomous rough terrain robot for rescue missions.  ...  Therefore, rescue robots with the capability of performing their tasks autonomously during temporarily lost connections to the control base would be ideal.  ...  The strategy that we apply to complete this is alternative and comprehensive; it is comprised of an algorithm to select and recognize landmarks from each scan, a procedure to match landmarks to the previously  ... 
doi:10.1109/robio.2009.4913280 dblp:conf/robio/SuthakornSJOSSNSR08 fatcat:hkue56vmy5hbblvm5ot5u6evnu

Cooperative μUAV-UGV autonomous indoor surveillance

Martin Saska, Tomas Krajnik, Libor Pfeucil
2012 International Multi-Conference on Systems, Sygnals & Devices  
The performance of the complex system is proven by an experiment of autonomous periodical surveillance in a changing environment with presence of people.  ...  In this paper, we present a heterogenous UGV-UAV system cooperatively solving tasks of periodical surveillance in indoor environments.  ...  For each landmarks in the set U, the best matching landmark in the set S (landmarks detected in the current image) is found in the similar way as in the mapping phase.  ... 
doi:10.1109/ssd.2012.6198051 dblp:conf/IEEEssd/SaskaKP12 fatcat:bbcelwxrlrfyvhoywoewg46mga

Analysis by Synthesis, a Novel Method in Mobile Robot Self-Localization [chapter]

Alireza Fadaei Tehrani, Raúl Rojas, Hamid Reza Moballegh, Iraj Hosseini, Pooyan Amini
2005 Lecture Notes in Computer Science  
In the analysis phase, the local search algorithms find the exact position of the landmarks on the image from which the best matching coordinates of the robot are determined using a likelihood function  ...  In this paper, an analysis by synthesis method is presented for optimizing the self-localization procedure.  ...  The results of the search algorithm are then converted to the robot coordinates by a probabilistic map matching technique.  ... 
doi:10.1007/978-3-540-32256-6_55 fatcat:qitcqma3prguvcetohgt42npuq

Secure Encoded Instruction Graphs for End-to-End Data Validation in Autonomous Robots [article]

Jorge Peña Queralta, Li Qingqing, Eduardo Castelló Ferrer, Tomi Westerlund
2020 arXiv   pre-print
The encoded maps inherit all the advantages of traditional landmark-based navigation, with the addition of cryptographic hashes that enable end-to-end information validation.  ...  This paper introduces a robotic mission encoding method that serves as an end-to-end validation framework for autonomous robots.  ...  ACKNOWLEDGEMENTS This work was supported by the Academy of Finland's AutoSOS project with grant number 328755.  ... 
arXiv:2009.01341v1 fatcat:izxt42mcdfbmvduhndfq2ya25i

Secure Encoded Instruction Graphs for End-to-End Data Validation in Autonomous Robots

Jorge Pena Queralta, Li Qingqing, Eduardo Castello Ferrer, Tomi Westerlund
2022 IEEE Internet of Things Journal  
Our encoded maps have the same advantages as typical landmark-based navigation, but with the added benefit of cryptographic hashes that enable end-to-end information validation.  ...  This paper introduces an encoding method and end-to-end validation framework for the missions of autonomous robots.  ...  The 3D lidar was used to accurately localize the landmarks and provide ground truth with map-based localization algorithms for three-dimensional point clouds introduced in [38] .  ... 
doi:10.1109/jiot.2022.3164545 fatcat:73gqphquwrfgnekb6yx6vuk5hy

Set Membership Localization and Map Building for Mobile Robots [chapter]

Nicola Ceccarelli, Mauro Di Marco, Andrea Garulli, Antonio Giannitrapani, Antonio Vicino
2006 Current Trends in Nonlinear Systems and Control  
By adopting a landmark-based description of the environment, both tasks can be cast as a state estimation problem for an uncertain dynamic system, based on noisy measurements.  ...  The proposed estimation algorithms are able to provide guaranteed set-valued estimates of the robot configuration as well as of the landmark locations.  ...  Concerning the cooperative SLAM problem, simulations of the map fusion step have been run to evaluate the accuracy improvement of the global map with respect to the maps built by each single robot.  ... 
doi:10.1007/0-8176-4470-9_16 fatcat:pbsppgac3je43p6udtqydotami

Monte Carlo Localization for Teach-and-Repeat Feature-Based Navigation [chapter]

Matías Nitsche, Taihú Pire, Tomáš Krajník, Miroslav Kulich, Marta Mejail
2014 Lecture Notes in Computer Science  
Acknowledgements The work is supported by the EU project 600623 'STRANDS' and the Czech-Argentine bilateral cooperation project ARC/13/13 (MINCyT-MEYS).  ...  The MCL algorithm starts by generating m particles p k uniformly distributed over the known map.  ...  Algorithm 1: Mapping Phase Input: F : current image features, d: robot distance relative to segment start, T : landmarks currently tracked Output: L: landmarks learned current segment foreach l ∈ T do  ... 
doi:10.1007/978-3-319-10401-0_2 fatcat:jbe6wcxjcze3dannepnc34j36e

A Review on Challenges of Autonomous Mobile Robot and Sensor Fusion Methods

Mary B. Alatise, Gerhard P. Hancke
2020 IEEE Access  
The study therefore gives good direction for further investigation on developing methods to deal with the discrepancies faced with autonomous mobile robot.  ...  Various studies have been carried out by researchers on the importance of mobile robot, its applications and challenges.  ...  For local navigation, occupancy grid of map is used to determine the navigation direction and for global navigation, landmark approach based on topological map is used.  ... 
doi:10.1109/access.2020.2975643 fatcat:3xuf5n2hxvhjzczaa73fy2qy3i

Information-Fusion Methods Based Simultaneous Localization and Mapping for Robot Adapting to Search and Rescue Postdisaster Environments

Hongling Wang, Chengjin Zhang, Yong Song, Bao Pang
2018 Journal of Robotics  
The first application of utilizing unique information-fusion SLAM (IF-SLAM) methods is developed for mobile robots performing simultaneous localization and mapping (SLAM) adapting to search and rescue  ...  The novel integration particle filter (IPF) and optimal improved EKF (IEKF) algorithms are derived for information-fusion systems to perform SLAM task in SAR scenarios.  ...  Acknowledgments This research is supported by the NSFC (National Nature Science Foundation of China) under Grants nos. 61573213, 61473174, and 61473179.  ... 
doi:10.1155/2018/4218324 fatcat:6qygbclyjfhx5aeagse4wxn5mu

Robust visual path following for heterogeneous mobile platforms

Aveek Das, Oleg Naroditsky, Zhiwei Zhu, Supun Samarasekera, Rakesh Kumar
2010 2010 IEEE International Conference on Robotics and Automation  
We present an innovative path following system based upon multi-camera visual odometry and visual landmark matching.  ...  Our controller relies on pose updates from visual odometry, allowing us to achieve path following even when only a joystick drive interface to the base robot platform is available.  ...  Fig. 7 . 7 Obstacle traversibilty maps based on dense stereo for a typical outdoor run.  ... 
doi:10.1109/robot.2010.5509699 dblp:conf/icra/DasNZSK10 fatcat:xdhvhnvwwrczrdnybfy6tcja2m

Issues in Cooperative Air/Ground Robotic Systems [chapter]

Simon Lacroix, Guy Le Besnerais
2010 Springer Tracts in Advanced Robotics  
Besides the usual issues brought forth by the integration of cooperating heterogeneous autonomous systems, such systems raise particularly challenging problems for environment perception and modelling.  ...  This paper analyses the problems raised by the cooperation of ground and aerial robots.  ...  applications where GPS localization can not be taken for granted, the only solution to register the two maps is to rely on landmarks that are detected and matched by the two kinds of robots 3 .  ... 
doi:10.1007/978-3-642-14743-2_35 fatcat:hcs7txiztvetjp3szmubkywteq

Coordination Strategies for Multi-robot Exploration and Mapping [chapter]

John G. Rogers, Carlos Nieto-Granda, Henrik I. Christensen
2013 Springer Tracts in Advanced Robotics  
Situational awareness in rescue operations can be provided by teams of autonomous mobile robots.  ...  As the number of robots is increased, each robot may interfere with one another and eventually decrease mapping performance.  ...  Fig. 2 . 2 Global maps using the Reserve coordination algorithm described in this paper. Fig. 3 . 3 A map built by three robots using the Reserve cooperative mapping strategy.  ... 
doi:10.1007/978-3-319-00065-7_17 fatcat:d52n6vjj6vhebo2s5vfll3kkdm

Coordination strategies for multi-robot exploration and mapping

Carlos Nieto-Granda, John G. Rogers, Henrik I. Christensen
2014 The international journal of robotics research  
Situational awareness in rescue operations can be provided by teams of autonomous mobile robots.  ...  As the number of robots is increased, each robot may interfere with one another and eventually decrease mapping performance.  ...  Fig. 2 . 2 Global maps using the Reserve coordination algorithm described in this paper. Fig. 3 . 3 A map built by three robots using the Reserve cooperative mapping strategy.  ... 
doi:10.1177/0278364913515309 fatcat:ioeopmzfdzglfdgcpwfxrmeoky
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