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Recent studies on multi-robot localization have shown that the uncertainty of robot location may be considerably reduced by optimally fusing odometry and the relative angles of sight (bearing) among the team members. However, the latter requires the capabi ...
This paper addresses the problem of mobile robot navigation in indoor cluttered environments. A new algorithm for both longitudinal and lateral real-time control of wheel-based mobile robots has been proposed. Its main characteristic is smooth and stable f ...
In this paper we present a navigation method for mobile robots in partially known indoor environments based on integration of graph based search algorithms and dynamic window local obstacle avoidance method. With the attention on a dynamic environment thre ...
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 ...
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 ...
Agile autonomous systems are emerging, such as unmanned aerial vehicles (UAVs), that must robustly perform tightly coordinated time-critical missions; for example, military surveillance or search-and-rescue scenarios. In the space domain, execution of temp ...
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 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 ...
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 ...
This paper presents a new technique to estimate the extrinsic parameters of a robot-vision sensor system. More in general, this technique can be adopted to calibrate any robot bearing sensor. It is based on the Extended Kalman Filter. It is very simple and ...
