Related papers: Relative Localization System Design for SnailBot: …
As technology advances in autonomous mobile robots, mobile service robots have been actively used more and more for various purposes. Especially, serving robots have been not surprising products anymore since the COVID-19 pandemic. One of…
Ultra-wideband (UWB) systems are becoming increasingly popular as a means of inter-robot ranging and communication. A major constraint associated with UWB is that only one pair of UWB transceivers can range at a time to avoid interference,…
Place recognition is a critical component in robot navigation that enables it to re-establish previously visited locations, and simultaneously use this information to correct the drift incurred in its dead-reckoned estimate. In this work,…
In this work, we study angle-based localization and rigidity maintenance control for multi-robot networks. First, we establish the relationship between angle rigidity and bearing rigidity considering \textit{directed} sensing graphs and…
Robot navigation technology is required to accomplish difficult tasks in various environments. In navigation, it is necessary to know the information of the external environments and the state of the robot under the environment. On the…
In this paper, we introduce a novel Synchronized Class Token Fusion (SCT Fusion) architecture in the framework of multi-modal multi-label classification (MLC) of remote sensing (RS) images. The proposed architecture leverages…
Employing an inertial measurement unit (IMU) as an additional sensor can dramatically improve both reliability and accuracy of visual/Lidar odometry (VO/LO). Different IMU integration models are introduced using different assumptions on the…
This paper presents the implementation of a perceptual system for a mobile robot. The system is designed and installed with modern sensors and multi-point communication channels. The goal is to equip the robot with a high level of…
This paper describes the development of a cost-effective yet precise indoor robot navigation system composed of a custom robot controller board and an indoor positioning system. First, the proposed robot controller board has been specially…
Localization is a key requirement for mobile robot autonomy and human-robot interaction. Vision-based localization is accurate and flexible, however, it incurs a high computational burden which limits its application on many…
In this paper we focus on the challenging problem of place categorization and semantic mapping on a robot without environment-specific training. Motivated by their ongoing success in various visual recognition tasks, we build our system…
Simultaneous Localization and Mapping (SLAM) is considered to be an essential capability for intelligent vehicles and mobile robots. However, most of the current lidar SLAM approaches are based on the assumption of a static environment.…
This paper proposes a semidefinite relaxation for landmark-based localization with unknown data associations in planar environments. The proposed method simultaneously solves for the optimal robot states and data associations in a globally…
Modular and reconfigurable robotic systems have been designed to provide a customized solution for the non-repetitive tasks to be performed in a constrained environment. Customized solutions are normally extracted from task-based…
Multi-robot global localization (MR-GL) with unknown initial positions in a large scale environment is a challenging task. The key point is the data association between different robots' viewpoints. It also makes traditional…
The advantage of modular self-reconfigurable robot systems is their flexibility, but this advantage can only be realized if appropriate configurations (shapes) and behaviors (controlling programs) can be selected for a given task. In this…
Modular reconfigurable robots require reliable mechanisms for automated module exchange, but conventional rigid active couplings often fail due to inevitable positioning and orientational errors. To address this, we propose a…
Visual-inertial simultaneous localization and mapping (SLAM) is a key module of robotics and low-speed autonomous vehicles, which is usually limited by the high computation burden for practical applications. To this end, an innovative…
The accurate localization of sensor nodes is a fundamental requirement for the practical application of the Internet of Things (IoT). To enable robust localization across diverse environments, this paper proposes a hybrid meta-heuristic…
Multi-sensor fusion is central to robust robotic perception, yet most existing systems operate under static sensor configurations, collecting all modalities at fixed rates and fidelity regardless of their situational utility. This rigidity…