Search results for "Mobile Robot"
showing 10 items of 71 documents
A spiking network for body size learning inspired by the fruit fly
2013
The concept of peripersonal space is an interesting research topics for psychologists, neurobiologists and for robotic applications. A living being can learn the representation of its own body to take the correct behavioral decision when interacting with the world. To transfer these important learning mechanisms on bio-robots, simple and efficient solutions can be found in the insect world. In this paper a neural-based model for body-size learning is proposed taking into account the results obtained in experiments with fruit flies. Simulations and experimental results on a roving platform are reported and compared with the biological counterpart.
A Feed-Forward Neural Network for Robust Segmentation of Color Images
1999
A novel approach for segmentation of color images is proposed. The approach is based on a feed-forward neural network that learns to recognize the hue range of meaningful objects. Experimental results showed that the proposed method is effective and robust even in presence of changing environmental conditions. The described technique has been tested in the framework of the Robot Soccer World Cup Initiative (RoboCup). The approach is fully general and it may be successfully employed in any intermediate level image-processing task, where the color is a meaningful descriptor.
Replicating Experiments in “Detour Behavior” with Artificially Evolved Robots: An A-Life Approach to Comparative Psychology
1999
To be useful in psychology "artificial organisms" have to perform tasks comparable to those performed by animals. One way to achieve this is to rephcate actual animal experiments. Here we reproduce an experiment showing "detour behavior" in chicks - a behavior usually explained in terms of "cognitive maps" or other forms of internal representation. We artificially evolve software-simulated robots with a "generic" ability to detour. Sensor-motor physics are carefully calibrated with data from a physical robot. Robot architecture is constrained to exclude internal representation. The evolutionary process rewards exploratory skills as well as detour behavior. Robot performance matches the resu…
Uncalibrated Reconstruction: An Adaptation to Structured Light Vision
2003
Abstract Euclidean reconstruction from two uncalibrated stereoscopic views is achievable from the knowledge of geometrical constraints about the environment. Unfortunately, these constraints may be quite difficult to obtain. In this paper, we propose an approach based on structured lighting, which has the advantage of providing geometrical constraints independent of the scene geometry. Moreover, the use of structured light provides a unique solution to the tricky correspondence problem present in stereovision. The projection matrices are first computed by using a canonical representation, and a projective reconstruction is performed. Then, several constraints are generated from the image an…
On the advantages of combining differential algorithms and log-polar vision for detection of self-motion from a mobile robot
2001
Abstract This paper describes the design and implementation on programmable hardware (FPGAs) of an algorithm for the detection of self-mobile objects as seen from a mobile robot. In this context, ‘self-mobile’ refers to those objects that change in the image plane due to their own movement, and not to the movement of the camera on board of the mobile robot. The method consists on adapting the original algorithm from Chen and Nandhakumar [A simple scheme for motion boundary detection, in: Proceedings of the IEEE International Conference on Systems, Man and Cybernetics, 1994] by using foveal images obtained with a special camera whose optical axis points towards the direction of advance. It i…
A mechanism of coalition formation in the metaphor of politics multiagent architecture
2003
Hybrid Multi-Agent Architectures allow the support of mobile robots colonies moving in dynamic, not predictable and time variable environments in order to achieve distributed solving strategies that develop collective team-oriented behaviors for solving complicate and difficult tasks. The development of a new robotic architecture for the coordination of a robot colonies in dangerous, unknown and dynamic environment is outlined. The name of this new architecture is Metaphor of Politics (MP), because it loosely takes inspiration from the political organizations of democratic governments.
Hibrid Adaptive/EKF Motion Control and Data Fusion for Ground Vehicles with Kinematical and Dynamical Uncertainties
2006
This paper considers the motion control problem of ground vehicles with nonholonomic constraints and parametric uncertainties both in the kinematic and in the dynamic model. The presence of uncertainties above is treated using adaptation laws where the Lyapunov's stability of the position and orientation errors is proved. Now, if the feedback signals are position and orientation provided by incremental encoders only, then noises of the odometric sensors above can damage the control in terms of difference between the desired and the actual motion of the vehicle and in terms of performances of the parametric adaptation. So an extended Kalman's filter (EKF) is inserted in the feedback for meas…
Noised Trajectory tracking Control based on Fuzzy Lyapunov approach for Wheeled Vehicles
2005
This paper solves a trajectory tracking control problem whit outside perturbations for wheeled nonholonomic vehicles using a Fuzzy Lyapunov method. Trough a symbiosis between classical backstepping techniques and fuzzy logic, the control system ensures a good robustness with respect to outside perturbations. Possible causes of perturbations are the characteristics of the ground and the contact between the wheels and the ground. These perturbations can interact with the vehicle, they are sources of uncertainty for the system model and can perturb the validity of the nonholonomic constraints. The convergence of the tracking errors to the origin and the asymptotic stability of the equilibrium …
Decentralized Coordination System for Multiple AGVs in a Structured Environment
2011
Abstract In this paper, we propose a decentralized coordination algorithm for safe and efficient management of a group of mobile robots following predefined paths in a dynamic industrial environment. The proposed algorithm is based on shared resources and proved to guarantee ordered traffic flows avoiding collisions and deadlocks. In consistency with the model of distributed robotic systems (DRS), no centralized mechanism, synchronized clock, shared memory or ground support is needed. A local inter-robot communication is required among a small number of spatially adjacent robotic units.
Tracking Mobile Robot in Indoor Wireless Sensor Networks
2014
Published version of an article in the journal: Mathematical Problems in Engineering. Also available from the publisher at: http://10.1155/2014/837050 This work addresses the problem of tracking mobile robots in indoor wireless sensor networks (WSNs). Our approach is based on a localization scheme with RSSI (received signal strength indication) which is used widely in WSN. The developed tracking system is designed for continuous estimation of the robot's trajectory. A WSN, which is composed of many very simple and cheap wireless sensor nodes, is deployed at a specific region of interest. The wireless sensor nodes collect RSSI information sent by mobile robots. A range-based data fusion sche…