Advanced Mobile Robot, 1996., Proceedings of the First Euromicro Workshop on

9-11 Oct. 1996

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  • Proceedings of the First Euromicro Workshop on Advanced Mobile Robots (EUROBOT '96)

    Publication Year: 1996
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    Freely Available from IEEE
  • Robot self-localization by means of vision

    Publication Year: 1996, Page(s):160 - 165
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (618 KB)

    We present an application of vision-based object recognition capabilities to the self-positioning-problem of an autonomous robot. Alphanumeric signs are placed in the robot environment as position markers and perceived through an on-board CCD camera on a pan-tilt head. Sign recognition is performed by a neural network based system, driven by some a-priori knowledge about the characteristics of the... View full abstract»

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  • Author index

    Publication Year: 1996, Page(s): 201
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    Freely Available from IEEE
  • Validation of kernel-based TMR in an autonomous guided vehicle

    Publication Year: 1996, Page(s):77 - 83
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (772 KB)

    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 o... View full abstract»

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  • MOPS, a system for mail distribution in office type buildings

    Publication Year: 1996, Page(s):151 - 158
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (964 KB)

    This paper describes the new mobile post system (MOPS) developed at the Institute of Robotics, Swiss Federal Institute of Technology. This mobile service robot operates in a building containing several research institutes and various other institutions. The MOPS has the task of distributing the incoming mail (letters and small parcels collected in boxes) from a central post station to the various ... View full abstract»

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  • Using colour information in an omnidirectional perception system for autonomous robot localization

    Publication Year: 1996, Page(s):172 - 176
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (524 KB)

    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 View full abstract»

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  • Cellular automata in robot path planning

    Publication Year: 1996, Page(s):116 - 125
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1392 KB)

    Cellular automata model is a powerful instrument used in many applications. In this paper we present an algorithm based on cellular automata for the path planning of a simple rigid body in a planar workspace with obstacles well known a priori. The environment model is realized with a regular decomposition in cells of predefined regular shape. The object has an orientation and has the limitation of... View full abstract»

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  • Natural landmark based localisation of mobile robots using laser range data

    Publication Year: 1996, Page(s):186 - 193
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (832 KB)

    This paper presents a localisation procedure for a mobile robot operating in a structured environment whose map is totally or partially known a priori. The proposed approach is based on the recognition of natural landmarks identified through laser range data. With a rough estimate of the robot's position and orientation and the knowledge of an a priori map, the proposed technique chooses two verti... View full abstract»

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  • Landmark-based autonomous navigation in sewerage pipes

    Publication Year: 1996, Page(s):68 - 73
    Cited by:  Papers (14)  |  Patents (16)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (644 KB)

    We describe a method for an autonomous mobile robot to navigate through a system of sewerage pipes. Landmarks signalling positions in the pipe system have to be detected and classified, where classification is allowed do be unreliable. Self localization is interpreted as a partially observable Markov decision problem and solved accordingly. The method is implemented and used on a prototype robot p... View full abstract»

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  • Distributed perception for reactive navigation

    Publication Year: 1996, Page(s):99 - 106
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (752 KB)

    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 ... View full abstract»

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  • ADAM: adaptive autonomous machine

    Publication Year: 1996, Page(s):143 - 150
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (644 KB)

    This paper describes a part of the development of an adaptive autonomous machine that is able to move in an unknown world extract knowledge out of the perceived data, has the possibility to reason, and finally has the capability to exchange experiences and knowledge with other agents. The agent is not pre-programmed by its designer but was given simple rules of life, i.e. what is good and what is ... View full abstract»

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  • Statistical approach to range-data fusion and interpretation

    Publication Year: 1996, Page(s):18 - 23
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (592 KB)

    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 representation... View full abstract»

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  • Ultrasonic sensing and fuzzy logic control for navigation in unknown static environments

    Publication Year: 1996, Page(s):54 - 59
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (440 KB)

    In this study a fuzzy logic navigation controller has been designed in order to deal with the uncertainty and ambiguity of the information the system (mobile robot) receives. The technique has been applied to MOBIRO, an experimental mobile robot using a set of seven ultrasonic sensors to perceive its surroundings. The fuzzy control designed maps the input space (information coming from ultrasonic ... View full abstract»

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  • Visual tracking and target selection for mobile robots

    Publication Year: 1996, Page(s):166 - 171
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (700 KB)

    This paper describes how tracking and target selection are used in two behavior systems of the XT-1 vision architecture for mobile robots. The first system is concerned with active tracking of moving targets and the second is used for visually controlled spatial navigation. We overview the XT-1 architecture and describe the role of expectation-based template matching for both target tracking and n... View full abstract»

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  • Learning behaviours in a modular neural net architecture for a mobile autonomous agent

    Publication Year: 1996, Page(s):84 - 88
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (408 KB)

    The relatively new idea of decomposing the intelligent agent problem into behaviours rather than cognitive functions has had early success but doubts have arisen concerning the validity of its basic building blocks. It may still be worth retaining the idea that intelligent behaviour can be achieved through the accretion of modules each having a tight loop between perception and action but modules ... View full abstract»

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  • Route learning in mobile robots through self-organisation

    Publication Year: 1996, Page(s):126 - 133
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (644 KB)

    This paper describes route-learning experiments with an autonomous mobile robot in which map building is achieved through a process of unsupervised clustering of sensory data. The resulting topological mapping of the robot's perceptual space is used for subsequent navigation tasks such as route following. After the autonomous mapbuilding process is completed, the acquired generalised perceptions a... View full abstract»

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  • Self-organizing visual perception for mobile robot navigation

    Publication Year: 1996, Page(s):194 - 200
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1096 KB)

    Visual navigation for mobile robots is almost always performed on the basis of complex CAD models which have to be given to the system in advance. There are some approaches that map visual information more or less directly to robot actions in order to implement some basic capabilities like road following or docking. Complex navigation task, e.g. in buildings, however, are usually solved using thre... View full abstract»

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  • Multi-strategic approach for robot path planning

    Publication Year: 1996, Page(s):108 - 115
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (608 KB)

    The paper presents a proposal for an autonomous robot path planning system that uses several strategies to reach a target also in an a-priori unknown environment. The proposed method has learning capabilities that allow the robot to take advantage of previous experience, thus improving its performance during successive traveling in the same environment. The proposed multistrategic approach has bee... View full abstract»

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  • Real-time phase-based stereo for a mobile robot

    Publication Year: 1996, Page(s):178 - 185
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1288 KB)

    The performance of a mobile robot crucially depends on the accuracy, duration and reliability of its sensor interpretation. A major source of information are CCD-cameras which provide a detailed view of the robot's environment. This paper presents a real-time stereo algorithm implemented on the mobile robot RHINO of the University of Bonn. The algorithm exploit the phases of wavelet-filtered image... View full abstract»

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  • Perception of an underwater structure for inspection and guidance purpose

    Publication Year: 1996, Page(s):24 - 28
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (672 KB)

    The application described here concerns the detection and the real-time tracking of submarine pipelines from a sequence of underwater images acquired from TV-cameras mounted on a remote operated vehicle (ROV). The problem involves both perception and robotics, in that sensory-motion data are to be acquired and dynamically used for subsequent actions by the system. The basic processing concerns the... View full abstract»

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  • AMOS: comparison of scan matching approaches for self-localization in indoor environments

    Publication Year: 1996, Page(s):61 - 67
    Cited by:  Papers (94)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (540 KB)

    This paper describes results from evaluating different self-localization approaches in indoor environments for mobile robots. The algorithms examined are based on 2D laser scans and an odometry position estimate and do not need any modifications in the environment. An important requirement for the self-localization is the ability to cope with office-like environments as well as with environments w... View full abstract»

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  • Towards adaptive perception in autonomous robots using second-order recurrent networks

    Publication Year: 1996, Page(s):89 - 98
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (884 KB)

    In this paper a higher-order recurrent connectionist architecture is used for learning adaptive behaviour in an autonomous robot. This architecture consists of two sub-networks in a master-slave relationship: a function network for the coupling between sensory inputs and motor outputs, and a context network, which dynamically adapts the sensory input weights in order to allow a flexible, context-d... View full abstract»

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  • Position tracking with position probability grids

    Publication Year: 1996, Page(s):2 - 9
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1064 KB)

    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 metho... View full abstract»

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  • Six-legged robot for service operations

    Publication Year: 1996, Page(s):135 - 142
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (928 KB)

    New results on the development of an adaptive six-legged hexagonal walking robot and its control system are presented. The major part of the paper considers control of foot force distribution and control of body motion based on the information about force foot reactions and the information about the main force vector acting on the robot's body. Inserting and drilling operations based on the force ... View full abstract»

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  • Fuzzy logic rules for mapping sensor data to robot control

    Publication Year: 1996, Page(s):29 - 38
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (812 KB)

    We use fuzzy logic rules to directly map sensor data to robot control outputs by classifying a set of typical subtasks, such as “path tracking”, “local collision avoidance”, “contour tracking”, “situation evaluation”, etc. With the help of existing heuristics, the decision-making process for each subtask can be modelled and represented with “IF... View full abstract»

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