Hybrid, metric - topological, mobile robot navigation
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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 ...
Trilateration is a technique for position estimation from range measurements which is often used in robot navigation. Most applications assume that there is no error associated with the landmarks used for trilateration. In cooperative navigation, in which ...
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 ...
In this paper, we present a stereovision algorithm for real-time 6DoF ego-motion estimation, which integrates normalized cross-correlation-based feature tracking and 3D stereo information in the well-known Iterative Closest Point (ICP) scheme. The proposed ...
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 ...
The problem of driving a collection of mobile robots to a given target location is studied in the context of partial difference equations. In particular, we are interested in achieving this transfer while ensuring that the agents stay in the convex polytop ...
This paper presents an improved feature-based 3D SLAM approach for a mobile robot equipped with a rotating laser scanner. The features are represented within the SPmodel, with associated planar segment information based on decimated triangle sets. An Exten ...
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 ...
We characterize and improve an existing infrared relative localization/communication module used to find range and bearing between robots in small-scale multi-robot systems. Modifications to the algorithms of the original system are suggested which offer b ...
In this paper we derive theoretical results for the problem of on-line sensor calibration for a mobile robot. We consider the case of the odometry sensor. A first series of results regards the problem of understanding if a given system (consisting of a rob ...
