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Proceedings Second EUROMICRO Workshop on Advanced Mobile Robots

22-24 Oct. 1997

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  • Proceedings Second EUROMICRO Workshop on Advanced Mobile Robots

    Publication Year: 1997
    Request permission for commercial reuse | PDF file iconPDF (159 KB)
    Freely Available from IEEE
  • Non-supervised chromatic illuminant: corrector for autonomous robots

    Publication Year: 1997, Page(s):126 - 132
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (864 KB)

    One of the well-known problems in colour image interpretation is the colour-constancy problem. Autonomous robots that use colour information to select objects or landmarks can be deceived in presence of heavy coloured illuminants. Classic chromatic filtering presupposes detailed information about light source characteristics, but this is not always possible. The presence of emergency lights or dif... View full abstract»

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  • Inducing topological maps from task-oriented perception and exploratory behaviors

    Publication Year: 1997, Page(s):134 - 140
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (755 KB)

    We describe motor and perceptual behaviors that have proven useful for indoor navigation of an autonomous mobile robot. These behaviors take advantage of the large amount of structure that characterizes many indoor, office-like environments. Based on pre-existing structural landmarks, a mobile robot has the ability to explore, map, and navigate one among several office buildings sharing similar st... View full abstract»

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  • Author index

    Publication Year: 1997, Page(s): 175
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    Freely Available from IEEE
  • Active mobile robot localization by entropy minimization

    Publication Year: 1997, Page(s):155 - 162
    Cited by:  Papers (48)  |  Patents (20)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (852 KB)

    Localization is the problem of determining the position of a mobile robot from sensor data. Most existing localization approaches are passive, i.e., they do not exploit the opportunity to control the robot's effecters during localization. This paper proposes an active localization approach. The approach provides rational criteria for (1) setting the robot's motion direction (exploration), and (2) ... View full abstract»

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  • Landmark matching in a varying environment

    Publication Year: 1997, Page(s):147 - 153
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (840 KB)

    A system for landmark tracking by a template matching approach is described. Route following based on landmarks may require many models to cover all different situations, so a genetic algorithm learning technique is used to adapt modelling parameters to environmental conditions (lighting, shadows, reflexes, etc.) during the tracking. In addition, the mobile robot self-localisation is obtained by a... View full abstract»

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  • A bee-inspired robot visual homing method

    Publication Year: 1997, Page(s):141 - 146
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (572 KB)

    This paper presents a proposal for a visual homing algorithm inspired by the behaviours of social insects. The homing method presented is based on an affine motion model of which parameters are estimated by the best matching criteria. In the matching phase no attempts are made either to recognise objects or to extract 3D models of the scene. Hypotheses and perspectives about the use of single land... View full abstract»

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  • Navigation and guidance of an intelligent mobile robot

    Publication Year: 1997, Page(s):104 - 111
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (756 KB)

    This paper presents an experimental mobile robot designed to operate autonomously within both indoor and outdoor environments. A sensor-based autonomous navigation architecture for a dynamically changing environment is described. Emphasis is placed on two important issues: autonomous navigation and smooth guidance of the robot. Several trajectory models are adopted to generate continuous-curvature... View full abstract»

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  • Deciding under partial ignorance

    Publication Year: 1997, Page(s):66 - 72
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (668 KB)

    We study the problem of making decisions under partial ignorance, or partially quantified uncertainty. This problem arises in many applications in robotics and AI, and it has not yet got the attention it deserves. The traditional decision rules of decision under risk and under strict uncertainty (or complete ignorance) can naturally be extended to the more general case of decision under partial ig... View full abstract»

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  • A possibilistic approach to sensor fusion in mobile robotics

    Publication Year: 1997, Page(s):73 - 79
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (656 KB)

    We present a formal method, based on the logic of possibility, to fuse uncertain sensory information and to produce an estimate of the position of a mobile robot. The robot navigates in an office environment, using a topological map, with the assistance of a “slave” robot acting as a portable local landmark. Each relevant place in the map is characterized by a set of logical formulae a... View full abstract»

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  • Synthesis of control units for mobile robots

    Publication Year: 1997, Page(s):80 - 86
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (332 KB)

    To design a control unit for a mobile robot, the finite state machine (FSM) describing the behavior of such a robot should be constructed. As a rule, it is difficult to construct an optimal FSM to represent a complex behavior of the mobile robot containing several subbehaviors. We present the formal method for synthesis a control for mobile robots, including the following procedures: representatio... View full abstract»

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  • An architecture for autonomous agents integrating symbolic and behavioral processing

    Publication Year: 1997, Page(s):45 - 50
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (884 KB)

    A new architecture for autonomous agents is proposed. The architecture integrates the symbolic and the behavioral processing of data coming from the robot sensors. The integration is based on the introduction of a conceptual space representation that links the subconceptual level, which is a repository of behavioral modules, with the symbolic level, in which rich symbolic descriptions of the agent... View full abstract»

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  • The DSP multi-frequency sonar configuration of the RAM-2 mobile robot

    Publication Year: 1997, Page(s):113 - 119
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (656 KB)

    This paper deals with the design and development of a system for controlling a ring of sixteen sonar transducers working at two different frequencies, generated by a DSP, for the mobile robot RAM-2. Data gathering speed is increased by the simultaneous firing of all sensors since the ultrasonic sensors that work at the same frequency are separated by 45°. The software and hardware implementati... View full abstract»

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  • Multirobot motion coordination using a deliberative approach

    Publication Year: 1997, Page(s):96 - 103
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (724 KB)

    The paper investigates the practical use of the motion plan quality and of the motion plan robustness measures coupled with a deliberative scheduling approach, for computing safe motions for multiple mobile robots. The use of any-time algorithms allows one to evaluate the opportunity of looking for alternative solution paths by generating small variations of robot motions in space and in time. By ... View full abstract»

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  • Robustness characteristics of POLLICINO system for autonomous robot self-localization

    Publication Year: 1997, Page(s):163 - 167
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (412 KB)

    POLLICINO is a system for autonomous mobile robot self-localization along previously learned routes in a dynamic environment. The system is based on a conical device that allows an omnidirectional perception of the environment and on a learning system. Robustness tests involving occlusion and robot rotations are presented View full abstract»

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  • Implications of embodiment for robot learning

    Publication Year: 1997, Page(s):38 - 43
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (540 KB)

    The work is based on that of Brooks (1986), who argued that intelligence requires a body and therefore suggested that robots be used to study principles of intelligence. We show in more detail why some of the problems in intelligent behavior like category learning are simplified if the embodiment is exploited appropriately. We will also demonstrate that embodied systems can learn in an unstructure... View full abstract»

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  • Enhancing recognizability of robotics environments

    Publication Year: 1997, Page(s):88 - 95
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (704 KB)

    We consider the problem of state recognizability in robotics environments modeled by partially observable Markov decision processes. To make the model of robot-environment interaction more reliable, in the usual state transition table, we add to the state transition probabilities an additional continuous metric via the mean and the variance of some significant sensor measurements suitable to be ke... View full abstract»

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  • Spatial learning with perceptually grounded representations

    Publication Year: 1997, Page(s):16 - 21
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (528 KB)

    The goal of this paper is to develop the foundation for a spatial navigation without objective representations. Rather than building the spatial representations on a Euclidean space, a weaker conception of space is used which has a closer connection to perception. A type of spatial representation is described that uses perceptual information directly to define regions in space. By combining such r... View full abstract»

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  • Extension of the ALVINN-architecture for robust visual guidance of a miniature robot

    Publication Year: 1997, Page(s):8 - 14
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (836 KB)

    Extensions of the ALVINN architecture are introduced for a KHEPERA miniature robot to navigate visually robust in a labyrinth. The reimplementation of the ALVINN-approach demonstrates, that also in indoor-environments a complex visual robot navigation is achievable using a direct input-output-mapping with a multilayer perceptron network, which is trained by expert-cloning. With the extensions it s... View full abstract»

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  • Visual behaviours for binocular tracking

    Publication Year: 1997, Page(s):2 - 7
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (656 KB)

    This paper presents a binocular tracking system based on the integration of visual behaviours. Biologically motivated behaviours, vergence and pursuit, cooperate as parallel, complementary and highly coupled processes in the tracking system, simplifying the acquisition of perceptual information and system modeling and control. The use of a space variant image representation and low-level visual cu... View full abstract»

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  • Q-learning of complex behaviours on a six-legged walking machine

    Publication Year: 1997, Page(s):51 - 58
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (828 KB)

    We present work on a six-legged walking machine that uses a hierarchical version of Q-learning (HQL) to learn both the elementary swing and stance movements of individual legs as well as the overall coordination scheme to perform forward movements. The architecture consists of a hierarchy of local controllers implemented in layers. The lowest layer consists of control modules performing elementary... View full abstract»

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  • Active acceleration compensation using a Stewart-platform on a mobile robot

    Publication Year: 1997, Page(s):59 - 64
    Cited by:  Papers (17)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (752 KB)

    If an object is transported on a mobile platform, all accelerations of the mobile platform affect the object. This is of course undesirable, since accelerations can move or even damage the object. Stewart-platforms are mostly used for simulation, where the platform generates accelerations that increase the simulation's quality. Vice versa, it's possible to use a Stewart-platform mounted on a mobil... View full abstract»

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  • Towards sophisticated mobile robot sonar sensing using pseudo-random sequences

    Publication Year: 1997, Page(s):120 - 125
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (500 KB)

    Conventional time-of-flight sonar sensing is widely used within the autonomous mobile robot research community. One of its most severe problems is known as crosstalk. This paper presents the experimental results of a new approach which allows the robot to operate a set of sonar sensors simultaneously with no frequent misreading caused by crosstalk or external ultrasound sources. This is achieved b... View full abstract»

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  • Mobile robot navigation using recursive motion control

    Publication Year: 1997, Page(s):168 - 174
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (556 KB)

    As a mobile robot travels towards its goal, sensor input is used to modify the path of the robot to prevent collision with obstacles. In conventional programming, when an obstacle is detected by the sensors, control loops are escaped according to the requirements of the executing navigation task. Thus navigational routines have to be written in a loop form with the necessary exit conditions built ... View full abstract»

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  • Learning navigation situations using roadmaps

    Publication Year: 1997, Page(s):22 - 28
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (596 KB)

    The roadmap approach to robot path planning is one of the earliest methods. Since then, many different algorithms for building roadmaps have been proposed and widely implemented in mobile robots but their use has always been limited to planning in static, totally known environments. In this paper we combine the use of dynamic analogical representations of the environment with an efficient roadmap ... View full abstract»

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