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In order to improve the precision of multi-robot SLAM multi-view target tracking process, a improved multi-robot SLAM multi-view target tracking algorithm based on panoramic vision in irregular environment was put forward, adding an…
This paper presents a study on autonomous robot navigation, focusing on three key behaviors: Odometry, Target Tracking, and Obstacle Avoidance. Each behavior is described in detail, along with experimental setups for simulated and…
The objective of this paper is to determine the position of a single mobile robot in a swarm using dead reckoning techniques. We investigate the accuracy of navigation by using this process. The paper begins with the research background and…
{Recognizing human interactions is essential for social robots as it enables them to navigate safely and naturally in shared environments. Conventional robotic systems however often focus on obstacle avoidance, neglecting social cues…
For autonomous robots navigating in urban environments, it is important for the robot to stay on the designated path of travel (i.e., the footpath), and avoid areas such as grass and garden beds, for safety and social conformity…
Visual perception is regularly used by humans and robots for navigation. By either implicitly or explicitly mapping the environment, ego-motion can be determined and a path of actions can be planned. The process of mapping and navigation…
Visual simultaneous localization and mapping (SLAM) plays a critical role in autonomous robotic systems, especially where accurate and reliable measurements are essential for navigation and sensing. In feature-based SLAM, the quantityand…
This paper proposes a novel swarm-based control algorithm for exploration and coverage of unknown environments, while maintaining a formation that permits short-range communication. The algorithm combines two elements: swarm rules for…
The recent adoption of the Robot Operating System (ROS) as a software standard in robotics has contributed to novel solutions for several problems on the area. One such problem is known as Simultaneous Localization and Mapping (SLAM) with…
The recent pandemic emergency raised many challenges regarding the countermeasures aimed at containing the virus spread, and constraining the minimum distance between people resulted in one of the most effective strategies. Thus, the…
Robot pose estimation is a challenging and crucial task for vision-based surgical robotic automation. Typical robotic calibration approaches, however, are not applicable to surgical robots, such as the da Vinci Research Kit (dVRK), due to…
Social navigation is the capability of an autonomous agent, such as a robot, to navigate in a 'socially compliant' manner in the presence of other intelligent agents such as humans. With the emergence of autonomously navigating mobile…
Simultaneous localization and mapping (SLAM) is a foundational state estimation problem in robotics in which a robot accurately constructs a map of its environment while also localizing itself within this construction. We study the active…
Swarm foraging is a common test case application for multi-robot systems. In this paper we present a novel algorithm for controlling swarm robots with limited communication range and storage capacity to efficiently search for and retrieve…
Robust and fast motion estimation and mapping is a key prerequisite for autonomous operation of mobile robots. The goal of performing this task solely on a stereo pair of video cameras is highly demanding and bears conflicting objectives:…
Inertial motion capture systems widely use low-cost IMUs to obtain the orientation of human body segments, but these sensors alone are unable to estimate link positions. Therefore, this research used a SLAM method in conjunction with…
This paper presents a general purpose framework for autonomous, vision-based interception of dynamic, non-cooperative targets, validated across three distinct mobility platforms: an unmanned aerial vehicle (UAV), a four-wheeled ground…
An essential task for a multi-robot system is generating a common understanding of the environment and relative poses between robots. Cooperative tasks can be executed only when a vehicle has knowledge of its own state and the states of the…
Navigation in natural outdoor environments requires a robust and reliable traversability classification method to handle the plethora of situations a robot can encounter. Binary classification algorithms perform well in their native domain…
Robots in a swarm take advantage of a motion capture system or GPS sensors to obtain their global position. However, motion capture systems are environment-dependent and GPS sensors are not reliable in occluded environments. For a reliable…