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Lessons Learned in a Ball Fetch-And-Carry Robotic Competition

Dario Lodi Rizzini, Stefano Caselli, Davide Valeriani, Andrea Signifredi, Isabella Salsi, Marco Patander, Federico Parisi, Alessandro Costalunga, Marco Cigolini
2014 Journal of Automation, Mobile Robotics & Intelligent Systems  
The aim of the contest was to detect, fetch and carry balls with an assigned color to a dropping area, similarly to a foraging naviga on task.  ...  In this paper, we illustrate Red Beard Bu on, the robo c system that we developed for the Sick Robot Day 2012 compe on, and we highlight no ons about design and implementa on of robo c systems acquired  ...  Acknowledgements We thank Sick Italia Spa for sponsoring the logistic of the competition to the Red Beard Button team and Sick AG for promoting and organizing the competition. Notes AUTHORS  ... 
doi:10.14313/jamris_1-2014/11 fatcat:5fprufivafdc5fqngi2vbpgib4

An Overview of Planning Technology in Robotics [chapter]

Malik Ghallab
2004 Lecture Notes in Computer Science  
It illustrates the usefulness of HTN and MDP planning techniques for the design of a high level controller for a mobile robot. 1  ...  We present here an overview of several planning techniques in robotics.  ...  Analysis of the Approach The system described here has been deployed on the Diligent robot, an indoor mobile platform, and extensively experimented with in navigation tasks within a wide laboratory environment  ... 
doi:10.1007/978-3-540-30221-6_3 fatcat:6eyehtwszjaxjb2zenrygkitpi

Lidar-Based Relative Position Estimation and Tracking for Multi-robot Systems [chapter]

Alicja Wa̧sik, Rodrigo Ventura, José N. Pereira, Pedro U. Lima, Alcherio Martinoli
2015 Advances in Intelligent Systems and Computing  
We improve the estimate of the relative robot position and reduce its uncertainty by feeding measurements into a Kalman filter, resulting in an accurate tracking system.  ...  We evaluate the performance of the algorithm in a realistic indoor environment to demonstrate its robustness and reliability.  ...  The robot moves using mecanum wheels, an omnidirectional locomotion system with a maximum speed of 2.5 m/s and maximum acceleration of 1 m/s 2 .  ... 
doi:10.1007/978-3-319-27146-0_1 fatcat:fieg4feqcbejpmhujaz76uho54

Robust Data Fusion of Multimodal Sensory Information for Mobile Robots

Vladimír Kubelka, Lorenz Oswald, François Pomerleau, Francis Colas, Tomáš Svoboda, Michal Reinstein
2014 Journal of Field Robotics  
Urban Search and Rescue missions for mobile robots require reliable state estimation systems resilient to conditions given by the dynamically changing environment.  ...  We design and evaluate a data fusion system for localization of a mobile skid-steer robot intended for USAR missions.  ...  We would like to thank the anonymous reviewers for their constructive suggestions that greatly improved the manuscript.  ... 
doi:10.1002/rob.21535 fatcat:rztiwctnfbeojihbmhjczbpwyi

A survey of image semantics-based visual simultaneous localization and mapping: Application-oriented solutions to autonomous navigation of mobile robots

Linlin Xia, Jiashuo Cui, Ran Shen, Xun Xu, Yiping Gao, Xinying Li
2020 International Journal of Advanced Robotic Systems  
As one of the typical application-oriented solutions to robot autonomous navigation, visual simultaneous localization and mapping is essentially restricted to simplex environmental understanding based  ...  As the challenges associated with perception, robustness, and accuracy are being stated, we further discuss some open problems from a macroscopic view and attempt to find answers.  ...  The term "SLAM" stands for simultaneous localization and mapping (proposed by Smith and Cheeseman 1 in 1986), being recognized as an eminent tool for mobile robot ego-localization at an unknown location  ... 
doi:10.1177/1729881420919185 fatcat:zatdrexf2zdydihx7smi4gmlvi

Map-based navigation in mobile robots:

David Filliat, Jean-Arcady Meyer
2003 Cognitive Systems Research  
For a robot, an animal, and even for man, to be able to use an internal representation of the spatial layout of its environment to position itself is a very complex task, which raises numerous issues of  ...  This point is illustrated here, within the framework of a review of localization strategies in mobile robots.  ...  These authors proin an environment with easily recognized artificial vide two kinds of place representation for mobile landmarks, while the model of Gaussier et al. (2000) robot localization.  ... 
doi:10.1016/s1389-0417(03)00008-1 fatcat:cmzmckoh45flhhw5vd3ogx777a

Progress toward multi-robot reconnaissance and the MAGIC 2010 competition

Edwin Olson, Johannes Strom, Ryan Morton, Andrew Richardson, Pradeep Ranganathan, Robert Goeddel, Mihai Bulic, Jacob Crossman, Bob Marinier
2012 Journal of Field Robotics  
Key to our approach was a decoupled centralized planning architecture that allowed individual robots to execute tasks myopically, but whose behavior was coordinated centrally.  ...  Maintaining a consistent global map, which is essential for autonomous planning and for giving humans situational awareness, required the development of fast loop-closing, map optimization, and communications  ...  ACKNOWLEDGMENTS Special thanks go to all our sponsors, including Intel and Texas Instruments, which allowed us to build a large team of robots.  ... 
doi:10.1002/rob.21426 fatcat:i2njjfpvozhvbi52x52eb3ohhy

Appearance-based localization for mobile robots using digital zoom and visual compass

N. Bellotto, K. Burn, E. Fletcher, S. Wermter
2008 Robotics and Autonomous Systems  
This paper describes a localization system for mobile robots moving in dynamic indoor environments, which uses probabilistic integration of visual appearance and odometry information.  ...  This enables the system to deal with perceptual aliasing or absence of reliable sensor data.  ...  Introduction In mobile robotics, localization plays a fundamental role for the navigation task, since it is necessary for every kind of path-planning.  ... 
doi:10.1016/j.robot.2007.07.001 fatcat:e2xbof5osrapxealn66ed7xera

A multirange architecture for collision-free off-road robot navigation

Pierre Sermanet, Raia Hadsell, Marco Scoffier, Matt Grimes, Jan Ben, Ayse Erkan, Chris Crudele, Urs Miller, Yann LeCun
2009 Journal of Field Robotics  
We present a multi-layered mapping, planning, and command execution system developed and tested on the LAGR mobile robot.  ...  Instead of using a dynamical model of the robot for short-range planning, the system uses a large lookup table of physically-possible trajectory segments recorded on the robot in a wide variety of driving  ...  The implementation of a fully-functional, reliable, and efficient vision-based navigation system for off-road robots such as the LAGR platform is a very difficult challenge for robotics research.  ... 
doi:10.1002/rob.20270 fatcat:whztx6qearde7fyukx4hslx644

LOST: localization-space trails for robot teams

R.T. Vaughan, K. Stoy, G.S. Sukhatme, M.J. Mataric
2002 IEEE Transactions on Robotics and Automation  
We describe Localization-Space Trails (LOST), a method that enables a team of robots to navigate between places of interest in an initially unknown environment using a trail of landmarks.  ...  In one experiment, a team of four autonomous mobile robots performs a resource transportation task in our uninstrumented office building.  ...  ACKNOWLEDGEMENTS Thanks to Esben Østergård, Jakob Fredslund and Brian Gerkey for assisting with the experiments, and to the Editor and reviewers for their helpful suggestions.  ... 
doi:10.1109/tra.2002.803459 fatcat:hncagzvyzvfunkfdyr2nqec2ty

Mathematical foundations of navigation and perception for an autonomous mobile robot [chapter]

James L. Crowley
1996 Lecture Notes in Computer Science  
After a brief introduction, a hierarchical architecture is presented for the design of a mobile robot navigation system.  ...  This paper concerns the application of techniques from estimation theory to the problem of navigation and perception for a mobile robot.  ...  We have found that a natural set of such layers emerges in the design of a mobile robot navigation system.  ... 
doi:10.1007/bfb0013953 fatcat:vttkibcmvfcyzlmok24wgpxzj4

Cost-Efficient Global Robot Navigation in Rugged Off-Road Terrain

T. Braun
2011 Künstliche Intelligenz  
Abstract This thesis addresses the problem of finding a global robot navigation strategy for rugged off-road terrain which is robust against inaccurate self-localization and scalable to large environments  ...  Thanks to Norbert Schmitz for maintaining and fixing many things in our software framework, Daniel Schmidt for putting up with the chores of teaching and undergraduate education, Jochen Hirth for his work  ...  Metrical Maps Purely metrical maps are probably the most common type of maps used for mobile robot navigation today.  ... 
doi:10.1007/s13218-011-0088-9 fatcat:u4ssainmcvc3jmqdon6gpjg674

NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge [article]

Ali Agha, Kyohei Otsu, Benjamin Morrell, David D. Fan, Rohan Thakker, Angel Santamaria-Navarro, Sung-Kyun Kim, Amanda Bouman, Xianmei Lei, Jeffrey Edlund, Muhammad Fadhil Ginting, Kamak Ebadi (+60 others)
2021 arXiv   pre-print
NeBula is an uncertainty-aware framework that aims at enabling resilient and modular autonomy solutions by performing reasoning and decision making in the belief space (space of probability distributions  ...  over the robot and world states).  ...  Acknowledgments The work is partially supported by the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration (80NM0018D0004  ... 
arXiv:2103.11470v4 fatcat:rq2wgczzl5clphzgujjdbd3ywm

Visual detection of vehicles using a bag-of-features approach

Pedro Pinto, Ana Tome, Vitor Santos
2013 2013 13th International Conference on Autonomous Robot Systems  
Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective  ...  works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.  ...  e Tecnologia (Portuguese Foundation for Science and Technology) within project FCOMP -01-0124-FEDER-022701.  ... 
doi:10.1109/robotica.2013.6623539 fatcat:ialsxj53yzfkfe5f766krtkkrq

Navigation and Mapping in Large Unstructured Environments

Jose Guivant, Eduardo Nebot, Juan Nieto, Favio Masson
2004 The international journal of robotics research  
The HYMM framework permits the combination of efficient feature-based simultaneous localization and mapping (SLAM) algorithms for localization with, for example, occupancy grid maps for tasks such as obstacle  ...  In this paper we address the problem of autonomous navigation in very large unstructured environments.  ...  Also special thanks to QSSL for donating copies of the QNX Momentics Professional Development suite used to implement the real-time data acquisition system for the vehicle.  ... 
doi:10.1177/0278364904042203 fatcat:ckkcjpf2afbmldemmpyxpxn4ri
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