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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 ...
This paper presents a micro manipulation platform based on several cm3-sized mobile micro robots. The proposed platform consists of a high resolution XY stage with the mobile micro robots on top of it, a camera with a microscopic objective for the local vi ...
A cluster of small cooperative robots capable of executing measurement and manipulation tasks is being developed within the scope of a European project. The robots are autonomous and have an overall dimension in the order of 1 cm/sup 3/. In this paper we p ...
This paper presents a solution to the Simultaneous Localization and Mapping (SLAM) problem in the stochastic map framework for a mobile robot navigating in an indoor environment. The approach is based on the concept of the relative map. The idea consists i ...
This paper presents a localization algorithm for indoor environments. The environmental model is topological and the approach describes how a multimodal perception increases the reliability for the topological localization problem for mobile robots, by usi ...
This paper presents a novel scheme for fast color invariant ball detection in the RoboCup context. Edge filtered camera images serve as an input for an Ada Boost learning procedure that constructs a cascade of classification and regression trees (CARTs). Our ...
After a quarter century of mobile robot research, applications of this fascinating technology appear in real-world settings. Some require operation in environments that are densely cluttered with moving obstacles. Public mass exhibitions or conventions are ...
This paper addresses the problem of the odometry error estimation during the robot navigation. The robot is equipped with an external sensor (like laser range finder). Concerning the systematic error an augmented Kalman Filter is introduced. This filter es ...
This paper presents a solution to the Simultaneous Localization and Mapping (SLAM) problem in the stochastic map framework for a mobile robot navigating in an indoor environment. The approach is based on the concept of the relative map. The idea consists i ...
This paper proposes an approach allowing topology learning and recognition in indoor environments by using a probabilistic approach called Bayesian Programming. The main goal of this approach is to cope with the uncertainty, imprecision and incompleteness ...
