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Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on

Date 7-12 Oct. 2012

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Displaying Results 1 - 25 of 872
  • Author index

    Page(s): 1 - 48
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  • Book of abstracts

    Page(s): 1 - 210
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1896 KB)  

    Provides an abstract for each of the presentations in the conference proceedings. View full abstract»

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  • Content list

    Page(s): 1 - 107
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  • Keyword index

    Page(s): 1 - 6
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  • Program at a glance

    Page(s): 1 - 6
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  • IEEE/RSJ IROS 2012 - Organizing Committee

    Page(s): 1 - 2
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  • IEEE/RSJ IROS 2012 - Competitions

    Page(s): 1
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  • [Monday digests]

    Page(s): 3 - 57
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    Summary form only given. Provides a schedule of Thursday's conference events and a listing of which papers were presented in each session. View full abstract»

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  • [Thursday digests]

    Page(s): 197 - 198
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    Summary form only given. Provides a schedule of Tuesday's conference events and a listing of which papers were presented in each session. View full abstract»

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  • [Tuesday digests]

    Page(s): 61 - 116
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    Summary form only given. Provides a schedule of Wednesday's conference events and a listing of which papers were presented in each session. View full abstract»

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  • [Wednesday digests]

    Page(s): 119 - 194
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (55661 KB)  

    Summary form only given. Provides a short abstract and author biographies for each of the tthree conference keynote speaches. View full abstract»

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  • Foreword

    Page(s): 1
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  • IEEE/RSJ IROS 2012 - General information

    Page(s): 1 - 3
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  • IEEE/RSJ IROS 2012 Organization

    Page(s): 1
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  • IEEE/RSJ IROS 2012 - Keynote speakers [4 abstracts]

    Page(s): 1 - 4
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    Summary form only given. Provides an abstract for each of the four keynote presentations: Embedded Ethics and Robotic Deception: Implications for Security by Professor Ronald C. Arkin of Mobile Robot Laboratory, Georgia Institute of Technology, USA; Secured Robot Identity and Mechatronic Security by Professor Wael Adi of Technical University of Braunschweig, Germany; Policy Based Authorisation by Professor David Chadwick of School of Computer Science, University of Ken, UK; and Mini-hopping robots for search and rescue and security by Professor Paolo Fiorini of Dept of Informatics, University of Verona, Italy. View full abstract»

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  • Welcome from conference program chair

    Page(s): 1
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  • Conference review board

    Page(s): 1 - 4
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  • Sponsors

    Page(s): 1 - 2
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  • IEEE/RSJ IROS 2012 ?? workshops & tutorials

    Page(s): 1 - 17
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  • Aerodynamic evaluation of four butterfly species for the design of flapping-gliding robotic insects

    Page(s): 1102 - 1109
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1629 KB) |  | HTML iconHTML  

    Alternating gliding and active propulsion is a potentially energy saving strategy for small-scale flight. With the goal of finding optimal wing shapes for flapping-gliding robots we evaluate the quasi-steady aerodynamic performance of four butterfly species (Monarch (Danaus plexippus), the Orange Aeroplane (Pantoporia consimilis), the Glasswing (Acraea andromacha) and the Four-barred Swordtail (Protographium Ieosthenes)). We fabricate at-scale wing models based on measured wing shapes and vary the forewing angle in nine steps to account for the ability of the butterfly to change the relative orientation of its forewing and hindwing during flight. For comparison we include twelve non-biological planforms as performance benchmarks for the butterfly wing shapes. We then test these 48 wing models at 2m/s, 3.5m/s and 5m/s (Reynolds number between 2597 and 12632) in a low speed wind tunnel which allows lift and drag force measurements of centimeter-size wings. The results indicate that the forewing orientation which maximizes the wing span offers the best gliding performance and that overall the gliding ratios are highest at 3.5m/s. The wing shapes with the best gliding ratio are found in the Glasswing butterfly with a maximum of 6.26 which is very high compared to the gliding performance of similarly sized flying robots. The results from this study are important for the development of novel biologically-inspired flying micro robots as well as for biomechanics studies in biology. View full abstract»

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  • OmniClimber: An omnidirectional light weight climbing robot with flexibility to adapt to non-flat surfaces

    Page(s): 280 - 285
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    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1890 KB) |  | HTML iconHTML  

    This paper introduces a novel climbing robot with high maneuverability for inspection of ferromagnetic 3D human made structures. The robot takes advantage of novelties which allows an excellent maneuverability on the structure and can adapt to flat and non-flat structures. In this paper we present the conceptual and detailed design of the robot, the implementation and two tests: laboratory tests on a flat surface; and a set of field tests performed on a wind turbine foundation to prove the applicability of the robot on both structures. View full abstract»

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  • A multi-cue approach for stereo-based object confidence estimation

    Page(s): 3055 - 3060
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1374 KB) |  | HTML iconHTML  

    In this contribution we present an approach to compute object confidences for stereo-vision-based object tracking schemes. Meaningful object confidences help to reduce false alarm rates of safety systems and improve the downstream system performance for modules such as sensor fusion and situation analysis. Several cues from stereo vision and from the tracking process are fused in a Bayesian manner. An evaluation on a 38,000 frames urban drive shows the effectiveness of the approach compared to the same object tracking scheme with simple heuristics for the object confidence. Within the evaluation, also the relevance of occurring phantoms is considered by computing the collision risk. The proposed confidence measures reduce the number of predicted imminent collisions from 86 to 0 maintaining almost the same system availability. View full abstract»

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  • Birth intensity online estimation in GM-PHD filter for multi-target visual tracking

    Page(s): 3893 - 3898
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    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1060 KB) |  | HTML iconHTML  

    Multi-target tracking in video is a challenge due to noisy video data, varying number of targets, and the data association problems. In this paper, a multi-target visual tracking system that incorporates object detection with the Gaussian mixture PHD filter is developed. The main contribution of this paper is to propose a new birth intensity online estimation method that based on the entropy distribution and the coverage rate. First, the birth intensity is initialized by using the previously obtained targets' states and measurements. The measurements are obtained by object detection and classified into the birth measurements and the survival measurements. Then it is updated according to the currently obtained birth measurements. In the update stage, the instability of the entropy distribution is applied to remove components like noises within the birth intensity which are irrelevant with the currently obtained birth measurements. And the coverage rate between each birth intensity component and corresponding birth measurement is computed to further eliminate the noises. Finally, experiments are implemented to show the performance of the proposed visual tracking system, especially to show the good performance for tracking the newborn targets. View full abstract»

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  • Switching-based mapping and control for haptic teleoperation of aerial robots

    Page(s): 2629 - 2634
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (289 KB) |  | HTML iconHTML  

    This paper deals with the bilateral teleoperation of underactuated aerial robots by means of a haptic interface. In particular, we propose a switching-based state mapping and control algorithm between a rate-based passive controller, which addresses the workspace incompatibility between the master and slave systems, and a pose-based passive controller, which is required for precise operation. The overall control architecture provides the possibility of changing the scaling factor of the mapping online, while preserving the passivity of the complete system. In our formulation, we use the port-Hamiltonian framework, in which energetic considerations play a determinant role for passivity and, thereby stability of the overall system. Simulation and experimental results illustrating the effectiveness of the proposed algorithm are also presented. View full abstract»

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  • Camera-based navigation of a low-cost quadrocopter

    Page(s): 2815 - 2821
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1425 KB) |  | HTML iconHTML  

    In this paper, we describe a system that enables a low-cost quadrocopter coupled with a ground-based laptop to navigate autonomously in previously unknown and GPS-denied environments. Our system consists of three components: a monocular SLAM system, an extended Kalman filter for data fusion and state estimation and a PID controller to generate steering commands. Next to a working system, the main contribution of this paper is a novel, closed-form solution to estimate the absolute scale of the generated visual map from inertial and altitude measurements. In an extensive set of experiments, we demonstrate that our system is able to navigate in previously unknown environments at absolute scale without requiring artificial markers or external sensors. Furthermore, we show (1) its robustness to temporary loss of visual tracking and significant delays in the communication process, (2) the elimination of odometry drift as a result of the visual SLAM system and (3) accurate, scale-aware pose estimation and navigation. View full abstract»

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