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
  • 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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  • 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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  • Development of a visual object localization module for mobile robots

    Publication Year: 1999, Page(s):65 - 72
    Cited by:  Papers (4)  |  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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  • 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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  • A vision system for object verification and localization based on local features

    Publication Year: 1999, Page(s):57 - 64
    Cited by:  Papers (5)
    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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  • 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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  • 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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  • 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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  • 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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  • Guidance principle and robustness issues for a biologically-inspired visual homing

    Publication Year: 1999, Page(s):143 - 150
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (744 KB)

    Analyses the guidance principle and the robustness features of a biologically-inspired visual homing algorithm for autonomous robots. The homing strategy uses colour images and is based on an affine matching model whose parameters are used to estimate real navigation displacement in the environment. The guidance principle of the visual homing is proven to be a visual potential function with an equ... 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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  • 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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  • Interfacing different layers of a multilayer architecture for sensorimotor systems using the object-oriented framework SMARTSOFT

    Publication Year: 1999, Page(s):195 - 202
    Cited by:  Papers (11)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (856 KB)

    Advanced mobile robots have to cope with many different situations and have to fulfil their tasks even in dynamic environments. Furthermore, there is an increasing demand that those systems perform not only a single task but show a whole set of different capabilities. This includes the concurrent and interruptable execution of several tasks. Reliably performing different tasks over long periods of... 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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  • Environment modelling in a multi-agent mobile system

    Publication Year: 1999, Page(s):41 - 48
    Cited by:  Papers (4)
    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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  • Using the condensation algorithm to implement tracking for mobile robots

    Publication Year: 1999, Page(s):73 - 80
    Cited by:  Papers (14)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (1136 KB)

    The detection of objects in every frame of a sequence is often not sufficient for scene interpretation. Tracking can increase the robustness, especially when occlusions occur or when objects temporally disappear. The standard approach for tracking is to use a Kalman filter for every object. This, however requires the use of a high complexity management system to deal with the multiple hypotheses n... 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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  • 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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  • Evolving the morphology of a compound eye on a robot

    Publication Year: 1999, Page(s):127 - 134
    Cited by:  Papers (24)
    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 behavior-based architecture for teaching more than reactive behaviors to mobile robots

    Publication Year: 1999, Page(s):203 - 210
    Cited by:  Papers (9)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (716 KB)

    The article gives an overview of learning aspects regarding behavior based control architectures for autonomous mobile robots. We propose a common, modularized architecture, which is particularly suited for learning experiments. The main focus lies in “Learning from Demonstration” in a spatial domain, which means teaching motor behaviors by humans or other robots. First results applyin... 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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  • 20 years of progress in mobile robotics: a historical perspective

    Publication Year: 1999, Page(s): 159
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    First Page of the Article
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  • Knowing your place in real world environments

    Publication Year: 1999, Page(s):135 - 142
    Cited by:  Papers (4)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (636 KB)

    The topic of mobile robot self-localisation is usually divided into the sub-problems of global localisation and position tracking. Both are now well understood individually, but few mobile robots can deal simultaneously with the two problems in large, complex environments. While efficient solutions have been found for metric maps, topological maps have, by nature of their compactness, the potentia... View full abstract»

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