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Information about the locomotion performance of known rovers is sparse. A comprehensive evaluation of wheeled passive systems is presented in this work. It is based on a static 2D approach that includes optimization of the wheel torques in order to minimiz ...
In the Mars rover missions the signals transmitted back to Earth travel under low SNR conditions in highly non-stationary channels [1, 2]. During the entry, descent and landing phase (EDL), the spacecraft high dynamics yields severe Doppler effects. We pro ...
Multi-robot systems have been studied in tasks that require the robots to be physically linked. In such a configuration, a group of robots may navigate a terrain that proves too difficult for a single robot. On the contrary, many collective tasks can be ac ...
This paper presents an experimental evaluation of a plane extraction method using various line extraction algorithms. Four different algorithms are chosen, which are well known in mobile robotics and computer vision. Experiments are performed on two sets o ...
An improvement over classical dynamic feedback linearization for the control of a nonholonomic mobile robot is proposed. The use of a state extension of higher dimension than in the case of dynamic feedback linearization helps reject constant disturbances ...
This paper investigates a cable transmission to remotely actuate MR compatible robots over a distance of several meters. Such a transmission could be an interesting solution for haptic interfaces for neuroscience studies performing force feedback during fu ...
We propose a robust and low complexity scheme to estimate and track carrier frequency from signals traveling under low SNR conditions in highly non-stationary channels. These scenarios arise in planetary exploration missions subject to high dynamics, such ...
Rough terrain robotics is a fast evolving field of research and a lot of effort is deployed towards enabling a greater level of autonomy for outdoor vehicles. Such robots find their application in scientific exploration of hostile environments like deserts ...
In this article we described the attempt to build a robot able to locate and follow an human target moving in a domestic environment. After a brief review of the state of the art in relative location technologies, we described our approach that aims to dev ...
This paper presents the extension and experimental validation of the widely used EKF1-based SLAM2 algorithm to 3D space. It uses planar features extracted probabilistically from dense three-dimensional point clouds generated by a rotating 2D laser scanner. ...
