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In visual-based robot navigation, panoramic vision emerges as a very attractive candidate for solving the localization task. Unfortunately, current systems rely on specific feature selection processes that do not cover the requirements of general purpose r ...
Integrating visual and inertial sensors has become a common practice in navigation due to the increase in computer power, in algorithms advancement and in sensor improvements. One of the problems yet to be solved is the Simultaneous Localisation And Mappin ...
Vision-based inertial-aided navigation is gaining ground due to its many potential applications. In previous decades, the integration of vision and inertial sensors was monopolised by the defence industry due to its complexity and unrealistic economic burd ...
This doctoral thesis deals with an open subproblem of robot navigation, namely simultaneous localization and mapping (SLAM) in three-dimensional space. The goal is to develop a system which is capable of localizing a mobile robot in a reliable way and at t ...
The development of robot motion planning algorithms is inherently a challenging task. This is more than ever true when the latest trends in motion planning are considered. Some motion planners can deal with kinematic and dynamic constraints induced by the ...
This thesis is about topological navigation, more precisely about space representation, perception, localization and mapping. All these elements are needed in order to obtain a robust and reliable framework for navigation. This is essential in order to mov ...
The efficiency of social insect colonies critically depends on their ability to efficiently allocate workers to the various tasks which need to be performed. While numerous models have investigated the mechanisms allowing an efficient colony response to ex ...
We apply an adapted version of Particle Swarm Optimization to distributed unsupervised robotic learning in groups of robots with only local information. The performance of the learning technique for a simple task is compared across robot groups of various ...
This paper presents an experimental evaluation of different line extraction algorithms on 2D laser scans for indoor environment. Six popular algorithms in mobile robotics and computer vision are selected and tested. Experiments are performed on 100 real da ...
Mobile robots are gradually appearing in our daily environments. In order to autonomously navigate in real world environments and interact with objects and humans, robots are facing various major technological challenges. Among the required key competences ...
