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Proceedings of the First Euromicro Workshop on Advanced Mobile Robots (EUROBOT '96)最新文献

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Statistical approach to range-data fusion and interpretation 距离数据融合与解释的统计方法
Proceedings of the First Euromicro Workshop on Advanced Mobile Robots (EUROBOT '96) Pub Date : 1996-10-09 DOI: 10.1109/EURBOT.1996.551876
P. Štěpán, L. Preucil
{"title":"Statistical approach to range-data fusion and interpretation","authors":"P. Štěpán, L. Preucil","doi":"10.1109/EURBOT.1996.551876","DOIUrl":"https://doi.org/10.1109/EURBOT.1996.551876","url":null,"abstract":"Making-use of multiple sensors is crucial for improvement of mobile robot navigation performance. The contribution introduces a problem of integrating noisy range-data by data fusion on signal/pixel level. This is performed for multiple sensors and different sensor positions into a common description of the environment. The paper deals with grid models, which are used as a low-level representations of sonar range measurements as well as for data fusion process. A short overview of used methods for the grid representation is shown and different fusion methods for various sonar models are discussed. Special attention is paid to the influence of sonar modeling on robustness of data integration process. The paper deals with methods for improvement of fusion robustness. Novelty of the presented approach stands in a sonar model which is designed as dependent on measured distance. The other improvement is an optimal feature selection for doorway recognition. The designed methods are illustrated by examples and test runs on experimental mobile platform with sonar sensory system.","PeriodicalId":136786,"journal":{"name":"Proceedings of the First Euromicro Workshop on Advanced Mobile Robots (EUROBOT '96)","volume":"85 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-10-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132802637","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 4
Distributed perception for reactive navigation 响应式导航的分布式感知
Proceedings of the First Euromicro Workshop on Advanced Mobile Robots (EUROBOT '96) Pub Date : 1996-10-09 DOI: 10.1109/EURBOT.1996.551888
M. Piasecki
{"title":"Distributed perception for reactive navigation","authors":"M. Piasecki","doi":"10.1109/EURBOT.1996.551888","DOIUrl":"https://doi.org/10.1109/EURBOT.1996.551888","url":null,"abstract":"We have proposed a novel approach to perception of environment regularities which can be used by reactive navigation systems for mobile robots. The approach is inspired by existing eco-systems and the way how people and animals use them to recognise long term life conditions. The system provides the distributed model of the world which is build up in behavioural manner. We hope that the presented approach enables a more global composition and coordination of behaviours and at the same time it preserves the grace of reactive systems.","PeriodicalId":136786,"journal":{"name":"Proceedings of the First Euromicro Workshop on Advanced Mobile Robots (EUROBOT '96)","volume":"133 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-10-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123717071","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Using colour information in an omnidirectional perception system for autonomous robot localization 利用全向感知系统中的颜色信息进行自主机器人定位
Proceedings of the First Euromicro Workshop on Advanced Mobile Robots (EUROBOT '96) Pub Date : 1996-10-09 DOI: 10.1109/EURBOT.1996.551897
R. Cassinis, D. Grana, A. Rizzi
{"title":"Using colour information in an omnidirectional perception system for autonomous robot localization","authors":"R. Cassinis, D. Grana, A. Rizzi","doi":"10.1109/EURBOT.1996.551897","DOIUrl":"https://doi.org/10.1109/EURBOT.1996.551897","url":null,"abstract":"A localization system for mobile robots is presented. The system enables an autonomous mobile robot to locate itself along previously learned routes in a dynamic environment. The localization is based on data provided by an omnidirectional visual perception system employing optical pre-processing and neural network learning. New results have been achieved using colour information.","PeriodicalId":136786,"journal":{"name":"Proceedings of the First Euromicro Workshop on Advanced Mobile Robots (EUROBOT '96)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-10-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125263381","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 17
Position tracking with position probability grids 位置概率网格的位置跟踪
Proceedings of the First Euromicro Workshop on Advanced Mobile Robots (EUROBOT '96) Pub Date : 1996-10-09 DOI: 10.1109/EURBOT.1996.551874
Wolfram Burgard, D. Fox, D. Hennig, Timo Schmidt
{"title":"Position tracking with position probability grids","authors":"Wolfram Burgard, D. Fox, D. Hennig, Timo Schmidt","doi":"10.1109/EURBOT.1996.551874","DOIUrl":"https://doi.org/10.1109/EURBOT.1996.551874","url":null,"abstract":"One of the main problems in the field of mobile robotics is the estimation of the robot's position in the environment. Position probability grids have been proven to be a robust technique for the estimation of the absolute position of a mobile robot. In this paper we describe an application of position probability grids to the tracking of the position of the robot. The main difference of our method to previous approaches lies in the fact that the position probability grid technique is a Bayesian approach which is able to deal with noisy sensors as well as ambiguities and is able to integrate sensor readings of different types of sensors over time. Given a starting position this method estimates the robot's current position by matching sensor readings against a metric model of the environment. Results described in this paper illustrate the robustness of this method against noisy sensors and errors in the environmental model.","PeriodicalId":136786,"journal":{"name":"Proceedings of the First Euromicro Workshop on Advanced Mobile Robots (EUROBOT '96)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-10-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128839457","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 34
Validation of kernel-based TMR in an autonomous guided vehicle 自主制导车辆基于核的TMR验证
Proceedings of the First Euromicro Workshop on Advanced Mobile Robots (EUROBOT '96) Pub Date : 1996-10-01 DOI: 10.1109/EURBOT.1996.551885
M. Bekambo, G. Deconinck, R. Lauwereins, J. Peperstraete, J. Vandorpe, H. Van Brussel
{"title":"Validation of kernel-based TMR in an autonomous guided vehicle","authors":"M. Bekambo, G. Deconinck, R. Lauwereins, J. Peperstraete, J. Vandorpe, H. Van Brussel","doi":"10.1109/EURBOT.1996.551885","DOIUrl":"https://doi.org/10.1109/EURBOT.1996.551885","url":null,"abstract":"The triple modular redundant (TMR) architecture is based on the triplication of application modules To mask faults, copies of modules are mapped on processing units, capable of direct communication. In the approach used in this paper, each processing unit (or a processor) mapping a module, is equipped with a kernel. This kernel allows it to mask faults via an agreement protocol involving the two other processors (mapping the two other copies). Faults are masked, under user requests, through kernel primitives. Robot movements are observed when its path following controller is mapped on a TMR architecture. The output of the velocity controller is then submitted to an agreement. The study of resulted robot movements shows that single faults are efficiently masked. There is no perceptible difference among the robot behaviors, when using or not using fault-masking kernel, unless when processors faults occur.","PeriodicalId":136786,"journal":{"name":"Proceedings of the First Euromicro Workshop on Advanced Mobile Robots (EUROBOT '96)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128976185","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
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