Advanced Mobile Robots, 1999. (Eurobot '99) 1999 Third European Workshop on

6-8 Sept. 1999

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  • 1999 Third European Workshop on Advanced Mobile Robots (Eurobot'99). Proceedings (Cat. No.99EX355)

    Publication Year: 1999
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    Freely Available from IEEE
  • Table of contents

    Publication Year: 1999, Page(s):0_6 - 0_8
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    Freely Available from IEEE
  • Attention as selection-for-action: a scheme for active perception

    Publication Year: 1999, Page(s):113 - 119
    Cited by:  Papers (2)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (564 KB)

    Proposes three principles for attentional control of actions in autonomous robots. (1) Attention-as-action suggests that attentional shifts and the selection of the focus of attention should be seen as actions rather than as a purely sensory process. (2) Selection-for-action suggests that actions should be implicitly controlled by the current focus of attention. (3) Deictic reference is a method o... View full abstract»

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  • Recognising plants with ultrasonic sensing for mobile robot navigation

    Publication Year: 1999, Page(s):105 - 112
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (800 KB)

    Mobile robots navigate through many environments that include plants. A sensor that can recognise plants would be useful for navigation in these environments. Two problems make plant sensing difficult: plant similarity and plant asymmetry with rotation. A CTFM (continuously transmitted frequency modulated) ultrasonic sensor produces a signal that contains information about the geometric structure ... View full abstract»

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  • Template-based state estimation of dynamic objects

    Publication Year: 1999, Page(s):33 - 39
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (444 KB)

    In order to plan their missions and to carry them out successfully, mobile robots operating in changing environments need to keep track of the state of objects. The perception of changes in the environment and the integration of changes into the robot's world model is therefore an important problem in mobile robotics. Most of today's systems plan their missions based on static models, thus limitin... View full abstract»

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  • Motion control of a snakelike robot

    Publication Year: 1999, Page(s):1 - 8
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (704 KB)

    Sliding, creeping and climbing are easy for real snakes but not for robots. We attempt to build a robot which can move as similar to real snakes as possible. The first version of our robot, GMD-Snake, was constructed in 1996. It was able to creep on a plain surface, to cross obstacles, and to follow a light source. A re-design was then started to enhance and improve the snake's abilities. An impor... View full abstract»

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  • A conceptual representation of the actions of an autonomous robot

    Publication Year: 1999, Page(s):97 - 104
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (760 KB)

    An autonomous robot involved in long and complex missions should be able to generate, update and process its own plans of action. In this perspective, it is not plausible for the meaning of the representations used by the robot to be given from outside the system itself. Rather, the meaning of internal symbols must be firmly anchored to the world through the perceptual abilities and the overall ac... View full abstract»

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  • Operating experiences with the service robot MOPS

    Publication Year: 1999, Page(s):227 - 234
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (836 KB)

    The Mobile Post Distribution system MOPS has been developed at ETH Zurich over the last few years (to 1999). Numerous technical problems had to be solved during this period. Currently, we are operating and testing it in our office building. A service robot like MOPS is a highly complex system, as it includes, in addition to the robot itself, the task, the operator, and the environment. Operating e... View full abstract»

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  • A vision system for object verification and localization based on local features

    Publication Year: 1999, Page(s):57 - 64
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1864 KB)

    An object verification and localization system should answer the question of whether an expected object is present in an image or not, i.e. verification, and if present where it is located. Such a system would be very useful for mobile robots for example for landmark recognition or for the fulfilment of certain tasks. In this paper we present an object verification and localization system speciall... View full abstract»

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  • Multi-agent control system for the symmetric body robot

    Publication Year: 1999, Page(s):25 - 32
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (828 KB)

    This paper describes a multi-agent control system for autonomous robots, especially, for the symmetric body robot (SBR). The SBR has several interesting characteristics: it has five symmetrical arms, each of them is driven twenty SMA-coils; and each of the five arms has an independent control board on the root of them. The SBR is completely symmetrical as far as detailed components. It has a high ... View full abstract»

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  • Localization in changing environments by matching laser range scans

    Publication Year: 1999, Page(s):169 - 176
    Cited by:  Papers (8)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (692 KB)

    We present a novel scan matching algorithm, IDC-S, Iterative Dual Correspondence-Sector, that matches range scans. The algorithm is based on the known Iterative Dual Correspondence, IDC, algorithm which has shown good performance in real environments. The improvement is that IDC-S is able to deal with relatively large changes in the environment. It divides the scan in several sectors, detects and ... View full abstract»

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  • Nonholonomic mobile robots - a new solution for path planning in changing environment

    Publication Year: 1999, Page(s):89 - 96
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (760 KB)

    Presents theoretical analyses of different methods which can be used in online path generation for mobile robots with nonholonomic constraints in a partially known workspace. A new method is then introduced, which works very quickly and gives the optimal path in a complex environment. The algorithm of the presented method is based on A*-graph searching with the nodes placed in a discretized config... View full abstract»

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  • Hierarchical decision-theoretic planning for autonomous robotic surveillance

    Publication Year: 1999, Page(s):219 - 226
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (692 KB)

    Surveillance as a first step towards automating the planning of the movement of an autonomous surveillance robot. We extend a previous proposal (N. Massios and F. Voorbraak, 1998), by including some heuristics based on an abstract representation of the environment. We show, using a concrete example, how these heuristics allow computationally feasible, finite look-ahead versions of the decision-the... View full abstract»

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  • Evolving the morphology of a compound eye on a robot

    Publication Year: 1999, Page(s):127 - 134
    Cited by:  Papers (21)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (908 KB)

    Reports on an experiment in evolving the morphology of an artificial compound eye with 16 light sensors on a robot. A special robot was designed and constructed that is able to autonomously modify the angular positions of the individual light sensors within the compound eye. The task of the robot was to employ motion parallax to estimate a critical distance to obstacles. This task was achieved by ... View full abstract»

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  • A flexible exploration framework for map building

    Publication Year: 1999, Page(s):49 - 56
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (788 KB)

    Presents a framework for exploration and incremental mapping of unknown environments. The framework allows for evaluation and comparison of different acquisition strategies. During exploration a visibility graph is constructed which holds correct topology information about the environment and provides a means for immediate planning in the partially known map. The framework has been implemented in ... View full abstract»

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  • Acceleration compensation using a Stewart platform on a mobile robot

    Publication Year: 1999, Page(s):17 - 24
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (624 KB)

    Transporting an object on a mobile platform always transfers accelerations to this object. In many cases this is undesirable, so a compensation would be helpful. There are passive systems, but they can only react and have no other use like manipulating. This paper presents a solution for both compensation of accelerations and precise and powerful manipulation. In order to achieve a compensation a ... View full abstract»

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  • Studying robot social cognition within a developmental psychology framework

    Publication Year: 1999, Page(s):187 - 194
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (760 KB)

    The paper discusses two prominent theories of cognitive development and relates them to experiments in social robotics. The main difference between these theories lies in the different views on the relationship between a child and its social environment: a) the child as a solitary thinker (Piaget) and b) the child in society (Vygotsky). We discuss the implications this has on the design of sociall... View full abstract»

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  • Learning to acquire and select useful landmarks for route following

    Publication Year: 1999, Page(s):161 - 168
    Cited by:  Papers (1)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1024 KB)

    The paper describes a prototypical system for optimal landmark acquisition and selection. Our landmark-learning approach does not require any type of environment model to be supplied to the robot in advance, and represents a step towards robots interacting with real environments. The approach is fitted and tested for the TMGA system (P. Zingaretti et al., 1998), which the authors developed for lan... View full abstract»

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  • Flying among obstacles

    Publication Year: 1999, Page(s):81 - 88
    Cited by:  Papers (11)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (544 KB)

    Addresses the problem of the reactive behaviors of flying 3D robots evolving in dynamic and unknown environments. Collision avoidance and target following have been studied with a common frame based on a nonlinear control algorithm. This method is based on the deformable virtual zone approach, initially developed for land vehicles and submarines. The main characteristics of this approach is the fa... View full abstract»

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  • Global localisation via sub-graph isomorphism

    Publication Year: 1999, Page(s):151 - 158
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (656 KB)

    A novel approach to the global localisation problem for an autonomous mobile robot is presented. Instead of referring to traditional map-based techniques, we choose to extract a graph-like topological representation of the free space from occupancy grids, thus shifting the map-matching problem to a sub-graph isomorphism one. An efficient any-time algorithm is described in detail, and simulated exp... View full abstract»

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  • Strategies for navigation of robot swarms to be used in landmines detection

    Publication Year: 1999, Page(s):211 - 218
    Cited by:  Papers (10)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (672 KB)

    The paper presents a novel approach to the detection of anti-personnel landmines that uses teams of cooperating robots. Following hints that originate both from classical robotics and from biology, we aim to define a set of search strategies suitable for use in an obstacle-cluttered, two-dimensional space. The paper presents the guidelines of the project, the search strategies that were developed,... View full abstract»

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  • Sonar interpretation learned from laser data

    Publication Year: 1999, Page(s):121 - 126
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (884 KB)

    Sensor interpretation in mobile robots often involves an inverse sensor model, which generates hypotheses on specific aspects of the robot's environment based on current sensor data. Building inverse sensor models for sonar sensor assemblies is a particularly difficult problem that has received much attention in the past few years. A common solution is to train neural networks using supervised lea... View full abstract»

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  • Environment modelling in a multi-agent mobile system

    Publication Year: 1999, Page(s):41 - 48
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (936 KB)

    The perception and world model building methods for multiple mobile robots operating in an industrial environment are discussed. The concept of geometrical database is associated with multiple classes of perception-based maps, to obtain the world model. Task-oriented maps are produced by grouped sensors. Two different representations of the environment are considered, namely vector-based and raste... View full abstract»

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  • Mechanism and control of master-slave quadruped walking robot

    Publication Year: 1999, Page(s):9 - 16
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1880 KB)

    This paper describes the mechanism and walking control of a proposed master-slave quadruped walking robot. The real time recognition of environment and the decision of control signal to each actuator are very important for the control of walking robot on rough terrain. Their techniques are not perfect at the present. Thus, we proposed a master-slave quadruped walking robot using radio control devi... View full abstract»

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  • Development of a visual object localization module for mobile robots

    Publication Year: 1999, Page(s):65 - 72
    Cited by:  Papers (2)  |  Patents (77)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (812 KB)

    Reports preliminary results from the design and implementation of a visual object localization module for mobile robots. The module takes an object-based approach to visual processing and relies on a preprocessing step that segments objects from the image. By tracking the size and the eccentricity of the objects in the image while the robot is moving, the visual object localization module can dete... View full abstract»

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