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Optimal surveillance coverage for teams of micro aerial vehicles in GPS-denied environments using onboard vision

Lefteris Doitsidis, Stephan Weiss, Alessandro Renzaglia, Markus W. Achtelik, Elias Kosmatopoulos, Roland Siegwart, Davide Scaramuzza
2012 Autonomous Robots  
A state-of-the-art visual-SLAM algorithm tracks the pose of the camera while, simultaneously, autonomously, building an incremental map of the environment.  ...  This paper deals with the problem of deploying a team of flying robots to perform surveillance-coverage missions over a terrain of arbitrary morphology.  ...  multi-robot coverage application.  ... 
doi:10.1007/s10514-012-9292-1 fatcat:icpl7g5trjagvgfpmdd4tfn6dm

Multi-Robot Hybrid Coverage Path Planning for 3D Reconstruction of Large Structures

Randa Almadhoun, Tarek Taha, Lakmal Seneviratne, Yahya Zweiri
2021 IEEE Access  
In the decentralized multi-robot system, the proposed HCPP is embedded in each robot where each one of them shares its global 3D map ensuring robustness.  ...  simultaneously achieve high coverage.  ...  ACKNOWLEDGEMENTS This publication is based upon work supported by the Khalifa University of Science and Technology under Award No. RC1-2018-KUCARS  ... 
doi:10.1109/access.2021.3139080 fatcat:qe2zog4zkbhxneclquufzpkiju

Object SLAM-Based Active Mapping and Robotic Grasping [article]

Yanmin Wu, Yunzhou Zhang, Delong Zhu, Xin Chen, Sonya Coleman, Wenkai Sun, Xinggang Hu, Zhiqiang Deng
2021 arXiv   pre-print
This paper presents the first active object mapping framework for complex robotic manipulation and autonomous perception tasks.  ...  The framework is built on an object SLAM system integrated with a simultaneous multi-object pose estimation process that is optimized for robotic grasping.  ...  In which, the simulated robotic manipulation scenes are set in Sabine [34] , shown in Fig. 8 , the number of objects and the scene complexities vary in different scenes.  ... 
arXiv:2012.01788v3 fatcat:nx7w5e6mwnhylfibu4hh4kiax4

3D surveillance coverage using maps extracted by a monocular SLAM algorithm

Lefteris Doitsidis, Alessandro Renzaglia, Stephan Weiss, Elias Kosmatopoulos, Davide Scaramuzza, Roland Siegwart
2011 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems  
This paper deals with the problem of deploying a team of flying robots to perform surveillance coverage missions over a terrain of arbitrary morphology.  ...  A state-of-the-art visual-SLAM algorithm tracks the pose of the camera while, simultaneously, building an incremental map of the surrounding environment.  ...  multi-robot coverage application.  ... 
doi:10.1109/iros.2011.6048116 fatcat:w3dcs7e5q5dgvnk6zjyueursoe

3D surveillance coverage using maps extracted by a monocular SLAM algorithm

L. Doitsidis, A. Renzaglia, S. Weiss, E. Kosmatopoulos, D. Scaramuzza, R. Siegwart
2011 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems  
This paper deals with the problem of deploying a team of flying robots to perform surveillance coverage missions over a terrain of arbitrary morphology.  ...  A state-of-the-art visual-SLAM algorithm tracks the pose of the camera while, simultaneously, building an incremental map of the surrounding environment.  ...  multi-robot coverage application.  ... 
doi:10.1109/iros.2011.6094460 dblp:conf/iros/DoitsidisRWKSS11 fatcat:nchd24co75aubddo75w6gnvjlu

Collaborative Multi-Robot Search and Rescue: Planning, Coordination, Perception and Active Vision

Jorge Pena Queralta, Jussi Taipalmaa, Bilge Can Pullinen, Victor Kathan Sarker, Tuan Nguyen Gia, Hannu Tenhunen, Moncef Gabbouj, Jenni Raitoharju, Tomi Westerlund
2020 IEEE Access  
ACKNOWLEDGMENT This research work is supported by the Academy of Finland's AutoSOS project (Grant No. 328755).  ...  multi-robot simultaneous localization and mapping (SLAM) algorithm.  ...  Simultaneous localization and mapping (SLAM) aims at constructing or updating a map of the environment of an agent, while simultaneously keeping track of the agent's position.  ... 
doi:10.1109/access.2020.3030190 fatcat:exigopjplzgfzlghxvr7s3l3di

Towards the Robotic "Avatar": An Extensive Survey of the Cooperation between and within Networked Mobile Sensors

Sebahattin Topal, İsmet Erkmen, Aydan M. Erkmen
2010 Future Internet  
In this paper, we survey and comparatively discuss the current state of networked robotics via their critical application areas and their design characteristics.  ...  This paper extensively surveys the networked robotic foundations of this robotic biological "Avatar" that awaits us in the future.  ...  networks in Simultaneous Localization and Mapping (SLAM) of a region.  ... 
doi:10.3390/fi2030363 fatcat:5gxwfqeh25ahhiz7s3fxfrgrda

Object-aware guidance for autonomous scene reconstruction

Ligang Liu, Xi Xia, Han Sun, Qi Shen, Juzhan Xu, Bin Chen, Hui Huang, Kai Xu
2018 ACM Transactions on Graphics  
To carry out autonomous 3D scanning and online reconstruction of unknown indoor scenes, one has to find a balance between global exploration of the entire scene and local scanning of the objects within  ...  Then, an object of interest (OOI) is identified as the NBO which the robot aims to visit and scan. The robot then conducts fine scanning on the OOI with views determined by the NBV strategy.  ...  Science and Technology Program (2015A03031201 5) and Shenzhen Science and Technology Program (KQJSCX20170727 101233642, JCYJ20151015151249564).  ... 
doi:10.1145/3197517.3201295 fatcat:kfo5dywxibhfpldqsyck6qq6v4

Robotic Discovery of the Auditory Scene

E. Martinson, A. Schultz
2007 Engineering of Complex Computer Systems (ICECCS), Proceedings of the IEEE International Conference on  
Once every source has been investigated, a noise map of the entire auditory scene is created for use by the robot in avoiding areas of loud ambient noise when performing an auditory task.  ...  Motivated by the large negative effect of ambient noise sources on robot audition, the long-term goal is to provide awareness of the auditory scene to a robot, so that it may more effectively act to filter  ...  Other work in robotic mapping samples the auditory scene over a large area, and interpolates across all data to construct a noise contour map of the auditory scene [7] .  ... 
doi:10.1109/robot.2007.363825 dblp:conf/icra/MartinsonS07 fatcat:ftjjmg35yja2bif3tiuj52qviq

Collaborative Multi-Robot Systems for Search and Rescue: Coordination and Perception [article]

Jorge Peña Queralta, Jussi Taipalmaa, Bilge Can Pullinen, Victor Kathan Sarker, Tuan Nguyen Gia, Hannu Tenhunen, Moncef Gabbouj, Jenni Raitoharju, Tomi Westerlund
2020 arXiv   pre-print
In particular, multi-robot systems have the potential to significantly improve the efficiency of SAR personnel with faster search of victims, initial assessment and mapping of the environment, real-time  ...  SAR operations encompass a wide variety of environments and situations, and therefore heterogeneous and collaborative multi-robot systems can provide the most advantages.  ...  ACKNOWLEDGMENT This research work is supported by the Academy of Finland's AutoSOS project (Grant No. 328755).  ... 
arXiv:2008.12610v1 fatcat:hq5lqtnsoreapjm4dpgg4z5xki

Autonomous Mobile Scanning Systems for the Digitization of Buildings: A Review

Antonio Adán, Blanca Quintana, Samuel Prieto
2019 Remote Sensing  
Some important issues, such as data redundancy, occlusion, initial assumptions, the complexity of the scanned scene, and autonomy, are analysed in the first part of the document, while the second part  ...  The paper provides the reader with a general view of the world of autonomous scanning and emphasizes the difficulties and challenges that new autonomous platforms should tackle in the future.  ...  Another work in the MAV context is that of Heng et al. [18] . The system performs simultaneous exploration and coverage in unknown environments.  ... 
doi:10.3390/rs11030306 fatcat:yucrt6aaincnvj6nxxfloenxk4

Multi-Robot Active Mapping via Neural Bipartite Graph Matching [article]

Kai Ye, Siyan Dong, Qingnan Fan, He Wang, Li Yi, Fei Xia, Jue Wang, Baoquan Chen
2022 arXiv   pre-print
We study the problem of multi-robot active mapping, which aims for complete scene map construction in minimum time steps.  ...  We compare our algorithm with several state-of-the-art multi-robot active mapping approaches and adapted reinforcement-learning baselines.  ...  In this paper, we study the problem of multi-robot active mapping: coordinating multiple robots for the autonomous reconstruction of unknown scenes.  ... 
arXiv:2203.16319v2 fatcat:rzwwqe72qndf7nmxc2p4slzl3a

Hierarchical Multi-robot Coordination [chapter]

Viktor Seib, David Gossow, Sebastian Vetter, Dietrich Paulus
2011 Lecture Notes in Computer Science  
The complexity and variety of household chores creates conflicting demands on the technical design of domestic robots.  ...  It builds a map of its environment automatically using a laser range finder. It can track a cleaning robot for which we use the commercially available platform "Roomba" by iRobot.  ...  Apart from multi-robot coordination, division of tasks among robots and master-slave systems, we also present related work on cleaning robots and robot tracking due to the character of the slave robot  ... 
doi:10.1007/978-3-642-20217-9_27 fatcat:7b6xy4wr7jdh7ovuej5nzptl5q

ROI-based Robotic Grasp Detection for Object Overlapping Scenes [article]

Hanbo Zhang, Xuguang Lan, Site Bai, Xinwen Zhou, Zhiqiang Tian and Nanning Zheng
2019 arXiv   pre-print
Robotic experiments demonstrate that ROI-GD can help robots grasp the target in single-object and multi-object scenes with the overall success rates of 92.5% and 83.8% respectively.  ...  Grasp detection with consideration of the affiliations between grasps and their owner in object overlapping scenes is a necessary and challenging task for the practical use of the robotic grasping approach  ...  INTRODUCTION In pursuit of a broader coverage on synergic functions in our daily life, it is essential for service robot and industrial robot to be competent in grasping a specified object in complex scenes  ... 
arXiv:1808.10313v6 fatcat:wxpsnez3bngsfpzbarmha6fjnm

Active vision in robotic systems: A survey of recent developments

Shengyong Chen, Youfu Li, Ngai Ming Kwok
2011 The international journal of robotics research  
and assembly, localization and mapping, navigation and exploration.  ...  Planning for robot vision is a complex problem for an active system due to its sensing uncertainty and environmental uncertainty.  ...  Nuchter and Hertzberg proposed an approach and an integrated robot system for semantic mapping. Coarse scene features are determined by semantic labeling.  ... 
doi:10.1177/0278364911410755 fatcat:pdpxmt4a5nhdvdojcsassxox6i
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