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Indoor Mobile Robotics at Grima, PUC

Luis Caro, Javier Correa, Pablo Espinace, Daniel Langdon, Daniel Maturana, Ruben Mitnik, Sebastian Montabone, Stefan Pszczółkowski, Anita Araneda, Domingo Mery, Miguel Torres, Alvaro Soto
2011 Journal of Intelligent and Robotic Systems  
Our main focus has been the cognitive side of Robotics, where we have developed algorithms for autonomous navigation using wheeled robots, scene recognition using vision and 3D range sensors, and social  ...  Since 2002, we have been developing an active research in the area of indoor autonomous social robots.  ...  In particular, in terms of Robotics our focus has been the creation of new techniques for the development of autonomous social mobile robots for the case of indoor environments.  ... 
doi:10.1007/s10846-011-9604-2 fatcat:psgjx5qjgfce7gamlrf7suovfe

A Novel Resampling Method for Particle Filter for Mobile Robot Localization

Widyawardana Adiprawita, Adang Suwandi Ahmad, Jaka Sembiring, Bambang R. Trilaksono
2011 International Journal on Electrical Engineering and Informatics  
This paper present a particle filter for mobile robot localization also known as Monte Carlo Localization (MCL) to solve the localization problem of autonomous mobile robot.  ...  This particle filter is simulated in MATLAB and also experimented physically using a simple autonomous mobile robot built with Lego Mindstorms NXT with 3 ultrasonic sonar and RWTH Mindstorms NXT Toolbox  ...  Probabilistic Robotic Architecture Building autonomous robots has been a central objective of research in artificial intelligence.  ... 
doi:10.15676/ijeei.2011.3.2.3 fatcat:u5yhl5nkrbe3pdlgxq3twjcwcy

Collaborative motion planning of autonomous robots

Takahashi Okada, Razvan Beuran, Junya Nakata, Yasuo Tan, Yoichi Shinoda
2007 2007 International Conference on Collaborative Computing: Networking, Applications and Worksharing (CollaborateCom 2007)  
In disaster areas, office buildings, or at home, multiple autonomous networked mobile robots may act instead of human beings.  ...  By using the virtual environment manager Map Manager, the WLAN emulator QOMET, and the experiment-support software RUNE we are able to perform emulation of large-scale autonomous networked mobile robot  ...  Robot Definition As explained in a previous section, autonomous mobile networked robots act in disaster or dangerous areas like rescue robots, and in office buildings or home like cleaning or assisting  ... 
doi:10.1109/colcom.2007.4553851 dblp:conf/colcom/OkadaBNTS07 fatcat:idlb3v7pxnaovjnk462gtprbii

ACS-PRM: Adaptive Cross Sampling Based Probabilistic Roadmap for Multi-robot Motion Planning [chapter]

Zhi Yan, Nicolas Jouandeau, Arab Ali Cherif
2013 Advances in Intelligent Systems and Computing  
In this paper we present a novel approach for multi-robot motion planning by using a probabilistic roadmap (PRM) based on adaptive cross sampling (ACS).  ...  Firstly, an adequate number of points should be generated in C-space on an occupancy grid map by using an adaptive cross sampling method.  ...  In this paper, we consider the issue of coordinated motion planning for a homogeneous team of autonomous mobile robots in structured environments such as office building, warehouse and container terminal  ... 
doi:10.1007/978-3-642-33926-4_81 fatcat:zwco53yn5fahzk5s5cdnaa26ca

A comparison of volumetric information gain metrics for active 3D object reconstruction

Jeffrey Delmerico, Stefan Isler, Reza Sabzevari, Davide Scaramuzza
2017 Autonomous Robots  
Additionally, our modular software framework is adaptable to other robotic platforms and general reconstruction problems, and we release it open source for autonomous reconstruction tasks.  ...  Additionally, our modular software framework is adaptable to other robotic platforms and general reconstruction problems, and we release it open source for autonomous reconstruction tasks.  ...  Conclusion In this work, we have considered the problem of next-best view selection for 3D reconstruction by a mobile robot equipped with a camera, where the robot builds a probabilistic map in real time  ... 
doi:10.1007/s10514-017-9634-0 fatcat:2erzqzpasffpnohrl5q4gzg5qe

A Study on Tracking Control of Pan-Tilt Unit for an Inverted Pendulum Mobile Robot

Takayuki Matsuda, Masahiro Wada, Masahiro Tanaka, Tomohiro Umetani, Minoru Ito
2013 Proceedings of the ISCIE International Symposium on Stochastic Systems Theory and its Applications  
This paper shows a basic approach of stabilizing control and tracking method for keeping a sensing level using a pan-tilt unit on an inverted pendulum mobile robot.  ...  A framework of tracking control by the pan-tilt unit for the inverted pendulum mobile robot is shown, and further some experimental results are demonstrated on the real robot system KoRo.  ...  Acknowledgment This research has been partially supported by JSPS Grant-in-Aid for Scientific Research #24500288, and also supported in part by MEXT, Japan.  ... 
doi:10.5687/sss.2013.219 fatcat:lyza7z4tyvfwlbwfvn6wxh2cgm

A one decade survey of autonomous mobile robot systems

Noor Abdul Khaleq Zghair, Ahmed S. Al-Araji
2021 International Journal of Power Electronics and Drive Systems (IJPEDS)  
Autonomous mobile robots are found in many fields including institutions, industry, business, hospitals, agriculture as well as private households for the purpose of improving day-to-day activities and  ...  <span lang="EN-US">Recently, autonomous mobile robots have gained popularity in the modern world due to their relevance technology and application in real world situations.  ...  technique, autonomous map building, dynamic environments, and cyclic environments.  ... 
doi:10.11591/ijece.v11i6.pp4891-4906 fatcat:mqdf7l3vhbe2xia7jftst3txoa

Framework of Control and Stabilization System for an Inverted Pendulum Moving Robot

Masahiro Wada, Masahiro Tanaka, Tomohiro Umetani, Minoru Ito
2011 Proceedings of the ISCIE International Symposium on Stochastic Systems Theory and its Applications  
In this study, we show a framework for the mobile robot constructed by the inverted pendulum mobile robot for a project "KoRo" in our university.  ...  Two wheeled inverted pendulum robot which has just two driving wheels is attracted as an interesting mobile robot for several applications over the last decade.  ...  Acknowledgment This research has been partially supported by "The Hirao Taro Foundation of the Konan University Association for Academic Research."  ... 
doi:10.5687/sss.2011.1 fatcat:irkdzvy64bfldddpmov3rkifqa

Autonomous learning of vision-based layered object models on mobile robots

Xiang Li, Mohan Sridharan, Shiqi Zhang
2011 2011 IEEE International Conference on Robotics and Automation  
A key requirement for the widespread deployment of mobile robots is the ability to operate autonomously by learning desired environmental models and revising the learned models in response to environmental  ...  This paper presents an approach that enables a mobile robot to autonomously learn layered models for environmental objects using temporal, local and global visual cues.  ...  [4] enabled a mobile robot to use scale invariant visual landmarks to localize globally and build a 3D map of the environment.  ... 
doi:10.1109/icra.2011.5980435 dblp:conf/icra/LiSZ11 fatcat:s7wa52z52fccxcpjjuam6u6rre

UltraBot: Autonomous Mobile Robot for Indoor UV-C Disinfection [article]

Stepan Perminov, Nikita Mikhailovskiy, Alexander Sedunin, Iaroslav Okunevich, Ivan Kalinov, Mikhail Kurenkov, Dzmitry Tsetserukou
2021 arXiv   pre-print
The paper focuses on the development of the autonomous robot UltraBot to reduce COVID-19 transmission and other harmful bacteria and viruses.  ...  The conducted experiments demonstrate the effectiveness of the robot localization module and optimal trajectories for UV-C disinfection.  ...  Localization In case of Autonomous mode in a known environment, as a pure localization module we use amcl ROS package, a probabilistic localization system for a mobile robot moving in 2D [17] .  ... 
arXiv:2108.09772v1 fatcat:mnc5qkilpreevkv6hq47gqync4

Searching objects in large-scale indoor environments: A decision-theoretic approach

Lars Kunze, Michael Beetz, Manabu Saito, Haseru Azuma, Kei Okada, Masayuki Inaba
2012 2012 IEEE International Conference on Robotics and Automation  
Many of today's mobile robots are supposed to perform everyday manipulation tasks autonomously. However, in large-scale environments, a task-related object might be out of the robot's reach.  ...  In this paper, we present a decision-theoretic approach for searching objects in large-scale environments using probabilistic environment models and utilities associated with object locations.  ...  First, we extend the representations and reasoning methods for semantic maps that have been introduced in [1] to account for large-scale indoor environments, i.e. multi-level buildings.  ... 
doi:10.1109/icra.2012.6224965 dblp:conf/icra/KunzeBSAOI12 fatcat:goluahpeuzaetigf72r6vuju2i

Principal component filter banks for optimal multiresolution analysis

M.K. Tsatsanis, G.B. Giannakis
1995 IEEE Transactions on Signal Processing  
and space-time coding for block transmissions, multicarrier, and wide-band wireless communication systems.  ...  Current research topics focus on transmitter and receiver diversity techniques for single-and multi-user fading communication channels, compensation of nonlinear amplifier effects, redundant precoding  ...  In transportation, I am interested in the use of computer vision techniques for pedestrian and vehicle detection and tracking, vision-based vehicle following, bicycle counting, monitoring driver fatigue  ... 
doi:10.1109/78.403336 fatcat:hc5dh5b62ra45jzqc46unornwi

Visual Based Localization of a Legged Robot with a Topological Representation [chapter]

Francisco Martin, Vicente Matellan, Jose Maria, Carlos Aguero
2010 Robot Localization and Map Building  
This process is Robot Localization and Map Building 412 iterative and is executed every time a new movement is performed. These two steps in more detail are:  Movement step.  ...  Introduction One of the fundamental tasks for a mobile robot is the ability to determine its location in the environment.  ...  This book describes comprehensive introduction, theories and applications related to localization, positioning and map building in mobile robot and autonomous vehicle platforms.  ... 
doi:10.5772/9261 fatcat:dqeyqu6kzfgorcbig2cp5c4rce

Probabilistic Mapping by Fusion of Range-Finders Sensors and Odometry [chapter]

Anderson, Andre Santana, Adelardo Medeiros, Luiz Gonalves
2010 Sensor Fusion and its Applications  
As next work, we intend to study techniques and exploration heuristics in order for a robot to perform the mapping process in autonomous way.  ...  Most part of current researches related to environment mapping for robotics uses probabilistic techniques constructing probabilistic models for the robots, sensors and mapped environments.  ...  books/sensor-fusion-and-itsapplications/probabilistic-mapping-by-fusion-of-range-finders-sensors-and-odometry-© 2010 The Author(s).  ... 
doi:10.5772/9974 fatcat:lek42pmktnd6xdtnd7lizftgwi

Tourbot and webfair web-operated mobile robots for tele-presence in populated exhibitions

P. Trahanias, W. Burgard, A. Argyros, D. Hahnel, H. Baltzakis, P. Pfaff, C. Stachniss
2005 IEEE robotics & automation magazine  
These techniques include effective map building capabilities, a method for obstacle avoidance that is based on a combination of range and visual information and advanced web- and on-board robot interfaces  ...  Helpmate autonomous mobile robot navigation system. In Proc. of the SPIE Conference on Mobile Robots, pages 190–198, 1990. [15] G. Lacey and K. Dawson-Howe.  ... 
doi:10.1109/mra.2005.1458329 fatcat:gjkaja4rcvcpjfeigw2cxnnmwa
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