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Intelligent Robotics Navigation System: Problems, Methods, and Algorithm

Siti Nurmaini, Bambang Tutuko
2017 International Journal of Electrical and Computer Engineering (IJECE)  
The inspiration is taken from nature by observing the human and the social animal that is believed to be very beneficial for this purpose.  ...  This paper set out to supplement new studies with a brief and comprehensible review of the advanced development in the area of the navigation system, starting from a single robot, multi-robot, and swarm  ...  research work as well as for the grant of Unggulan Perguruan Tinggi 2017 and Hibah Bersaing 2017.  ... 
doi:10.11591/ijece.v7i6.pp3711-3726 fatcat:dysypuj4hvdyzlyfd5eackxtcq

Fusing range and intensity images for mobile robot localization

J. Neira, J.D. Tardos, J. Horn, G. Schmidt
1999 IEEE Transactions on Robotics and Automation  
We apply the SPmodel to the problem of location estimation in indoor mobile robotics, experimenting with the mobile robot MAC-ROBE.  ...  In this paper, we present the two-dimensional (2-D) version of the symmetries and perturbation model (SPmodel), a probabilistic representation model and an EKF integration mechanism for uncertain geometric  ...  Our experiments have also highlighted the limitations inherent to the use of a priori maps for mobile robot localization.  ... 
doi:10.1109/70.744604 fatcat:nijy3z4u3jesjpopkvfjl3zh74

Dealing with Geometric Constraints in Game-Theoretic Planning

Patrick Fabiani, Jean-Claude Latombe
1999 International Joint Conference on Artificial Intelligence  
This approach allows the simple modeling of different tracking strategies, one of which has been implemented and tested successfully with two mobile robots.  ...  At each time step, a probability distribution models the positioning uncertainties of the robot and the target and a utility function represents the reward associated with the possible goal states of the  ...  Gonzales-Banos and David Lin for their technical inputs throughout this research and for their assistance in setting up the robotic experiments.  ... 
dblp:conf/ijcai/FabianiL99 fatcat:73yogz75rrhg5ld673cbhyyhiq

Fuzzy Mobile-Robot Positioning in Intelligent Spaces Using Wireless Sensor Networks

David Herrero, Humberto Martínez
2011 Sensors  
The sensor model of these measurements is very noisy and unreliable. The proposed method makes use of fuzzy logic for modeling and dealing with such uncertain information.  ...  This work presents the development and experimental evaluation of a method based on fuzzy logic to locate mobile robots in an Intelligent Space using Wireless Sensor Networks (WSNs).  ...  Special thanks to Alessandro Saffiotti for his invaluable help and comments. We are indebted to Pedro M. Ruiz and Rafael Marín for their help with laboratory equipment and experiments.  ... 
doi:10.3390/s111110820 pmid:22346673 pmcid:PMC3274315 fatcat:uxkhtw5y7vh45nnpqgkjojfxm4

The SPmap: a probabilistic framework for simultaneous localization and map building

J.A. Castellanos, J.M.M. Montiel, J. Neira, J.D. Tardos
1999 IEEE Transactions on Robotics and Automation  
This article describes a rigorous and complete framework for the simultaneous localization and map building problem for mobile robots: the symmetries and perturbations map (SPmap), which is based on a  ...  Index Terms-Correlations, probabilistic model, simultaneous localization and map building.  ...  CONCLUSION This article has presented the symmetries and perturbations map (SPmap), a probabilistic framework for the simultaneous localization and map building problem for mobile robots.  ... 
doi:10.1109/70.795798 fatcat:fqlj43mm25eo5egv6sqvjtmo4a

Guaranteed Mobile Robot Tracking Using Robust Interval Constraint Propagation [chapter]

Marco Langerwisch, Bernardo Wagner
2012 Lecture Notes in Computer Science  
The paper presents an approach for localizing a mobile robot in a feature-based map using a 2D laser rangefinder and wheel odometry.  ...  As the presented approach is based on set membership methods, the localization result consists of sets instead of points, and is guaranteed to contain the true robot position as long as the sensor errors  ...  Various approaches deal with the localization of mobile robots based on sensor uncertainty modelling with sets and boxes.  ... 
doi:10.1007/978-3-642-33515-0_36 fatcat:4czwxl36mvhapp6mkun2vpgk2e

Experiments in Multisensor Mobile Robot Localization and Map Building

José A. Castellanos, José M. Martínez, José Neira, Juan D. Tardós
1998 IFAC Proceedings Volumes  
Experimental result are reported focusing on the mobile robot localization and map building problems.  ...  This article describes an experiment using a mobile robot equipped with a laser range nder and a trinocular vision system, designed to be specially well suited to test multisensor robot localization and  ...  ., 1992) : environment models, algorithms for feature extraction from sensor information, uncertainty representation and integration problems, and feature matching algorithms.  ... 
doi:10.1016/s1474-6670(17)44113-9 fatcat:j3ufqg7llnc4zazrjuvnbjqeae

Handling Uncertainty in Control of Autonomous Robots [chapter]

Alessandro Saffiotti
1999 Lecture Notes in Computer Science  
These environments are characterized by the pervasive presence of uncertainty: the need to cope with this uncertainty constitutes a major challenge for autonomous robots.  ...  In this note, we discuss this challenge, and present some speci c solutions based on our experience on the use of fuzzy logic in mobile robots.  ...  The work on Flakey was performed while the author was with the AI Center of SRI International, in strict collaboration with Enrique Ruspini, Kurt Konolige and Leonard Wesley.  ... 
doi:10.1007/3-540-48317-9_16 fatcat:264mwrvpnrfoxb6flo4vf2fxze

Handling uncertainty in control of autonomous robots [chapter]

Alessandro Saffiotti
1998 Lecture Notes in Computer Science  
These environments are characterized by the pervasive presence of uncertainty: the need to cope with this uncertainty constitutes a major challenge for autonomous robots.  ...  In this note, we discuss this challenge, and present some speci c solutions based on our experience on the use of fuzzy logic in mobile robots.  ...  The work on Flakey was performed while the author was with the AI Center of SRI International, in strict collaboration with Enrique Ruspini, Kurt Konolige and Leonard Wesley.  ... 
doi:10.1007/3-540-49426-x_10 fatcat:h5sdmfhwqray5en4bf74whei3q

Modeling and Control of an Omnidirectional Mobile Robot [chapter]

S. G. Tzafestas, T. Krikochoritis, A. Melfi
2000 Advances in Networked Enterprises  
This paper presents the modeling and control of a spatial omnidirectional mobile manipulator, which consists of a robotic manipulator mounted upon a wheeled mobile platform.  ...  The analytical kinematic and dynamic model is derived considering the features of the entire mechanical system composed of the platform and the robotic manipulator.  ...  After deriving the kinematic and dynamic models of the 6-dof robot, the control problem was considered. Two types of controllers were used and their experimental results were demonstrated.  ... 
doi:10.1007/978-0-387-35529-0_37 fatcat:fjx2ioj3cjhtdgfhcxgd7ficsm

Multi-Robot Workspace Allocation with Hopfield Networks and Imprecise Localization

Mert Turanli, Hakan Temeltas
2020 Acta Polytechnica Hungarica  
Also, the uncertainty of the sensors utilized on the robots for localization has made the problem of imprecise localization attractive.  ...  The results obtained are satisfactory since the algorithm has faster convergence and has the capability to assign the regions from the workspace considering the imprecise localization resulting from sensor  ...  imprecise localization.  ... 
doi:10.12700/aph.17.5.2020.5.9 fatcat:4dxug7nuq5fpxj27kmsdwg2qge

Decision-making under severe uncertainty for autonomous mobile robots

Daniel Berleant, Gary T. Anderson
2007 2007 IEEE International Conference on Systems, Man and Cybernetics  
This paper introduces the use of Information Gap Theory as a way to enable robots to make robust decisions in the face of uncertainty, and illustrates this with an example problem.  ...  The field of robotics is on a growth curve, with most of the growth expected in the areas of personal and service robots.  ...  SUMMARY This paper deals with the problem of handling "severe" (epistemic, model) uncertainty for autonomous robots.  ... 
doi:10.1109/icsmc.2007.4414021 dblp:conf/smc/BerleantA07 fatcat:gblx4wlicjdqvhpyc3qcyit5w4

Integration of reactive behaviors and enhanced topological map for robust mobile robot navigation

Byeong-Soon Ryu, Hyun Seung Yang
1999 IEEE transactions on systems, man and cybernetics. Part A. Systems and humans  
A navigation system for an autonomous mobile robot working in indoor environments is presented.  ...  The use of the explicit world model, especially in a topological manner, makes it possible to reliably localize the robot and plan an efficient path.  ...  In fact, a variety of maps and corresponding algorithms to localize the robot and plan the optimal path have been proposed for mobile robot navigation.  ... 
doi:10.1109/3468.784174 fatcat:23nvqvyzundq3nss2vqmpzmz5y

Application of Fuzzy Logic in Mobile Robot Navigation [chapter]

Tang Sai, Danial Nakhaeinia, Babak Karasfi
2012 Fuzzy Logic - Controls, Concepts, Theories and Applications  
Furthermore, the methodology of the FLC is very helpful dealing with uncertainties in real world and accurate model of the environment is not absolutely required for navigation.  ...  Amongst the techniques ability of fuzzy logic to represent linguistic terms and reliable decision making in spite of uncertainty and imprecise information makes it a useful tool in control systems.  ...  Application of Fuzzy Logic in Mobile Robot Navigation, Fuzzy Logic -Controls, Concepts, Theories and Applications, Prof.  ... 
doi:10.5772/36358 fatcat:skywlrvnkzc5bbxsx2pxippyhq

Fuzzy uncertainty modeling for grid based localization of mobile robots

D. Herrero-Pérez, H. Martínez-Barberá, K. LeBlanc, A. Saffiotti
2010 International Journal of Approximate Reasoning  
The experiments show that our method can solve both the tracking and the global localization problem.  ...  The main advantages of this fuzzy logic method compared to most current ones are: (i) only an approximate sensor model is required, (ii) several facets of location uncertainty can be represented, and (  ...  We would like to thank the anonymous reviewers for insightful comments and suggestions. We are indebted to Pär Buschka and Zbignew Wasik for their invaluable help with the AIBO implementation.  ... 
doi:10.1016/j.ijar.2010.06.001 fatcat:xtnpszp4wzgxlamyvb5asgw56u
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