9762 papers found
This paper discusses issues of Unmanned Vehicles' (UV) modeling at various stages of their life-cycle. It presents software system RobSim. RobSim has a capacity to develop models of UVs of high complicity and perform modeling of their functioning. The paper describes structure of RobSim software with basic developers' tools including high-level robotic languages programming and control.
This article presents a new concept in the application of educational robotics. At this stage, the development of a prototype of a modular mobile platform and its software is presented. The final goal of the project is the creation of a robotic stand that provides students with the ability to visualize group control algorithms, as well as a web interface for remote testing of algorithms used in group robotics. The main goal of this development is to expand the scope of training robotics and make it accessible not only for schoolchildren, but also for students.
Autonomous robots have been in use to construct maps of unknown areas, off ering indispensable help for various emergency situations, including but not limited to hostage rescue and fi re accidents. In these situations, time and safety are paramount requiring prompt and accurate action. Through-wall mapping capability, allowing robots to create a map without physically visiting all the space of interest, provides both a faster and safer way to create a map. In this paper, we show that an off -the-shelf automotive radar can be used to detect obstacles placed behind walls, and hence create a...
Robotic manipulators with a lightweight structure can present some interesting features. Thanks to their reduced weight and stiffness, lightweight robots could achieve high speed tasks while being safer and more efficient than traditional rigid robots. However, when designing the controller of such systems, elastic behaviors should be accounted for in order to prevent unwanted vibrations.
Human-robot interactions (HRI) is an emerging paradigm that aims at combining com- plementary skills of robot and human. The meaningful human arm motion represent an interesting way of communication to explore with robot. IMUs appear as a simple, lightweight, easy-to-use, technology for human motion tracking compared to other systems such as opto-electronic devices. However, IMUs require important data treatement to reconstruct human motion and are usually coupled with a magnetometer or even other sensors. This paper explores a method only based on IMUs (accelerometer and gyroscope) to track...
Training of operators of mobile devices with use of computer trainers-simulators is a widely used method nowadays. This approach is applied with reference to unmanned remote-controlled vehicles (UGVs, UAVs, USVs) as well. Typical simulator allows training of one operator at the given moment of time. But in many critical situations (like CBRNE threads, terrorist attacks, natural disasters- hurricanes, earthquakes etc) task to be done should be performed by a set of cooperating robots. Thus, training of robots’ operators acting together is a must. Multirobot simulator described in the paper...
In rough or risky environments, such as minefields, landslides or volcanic eruptions, it is extremely complex to plan safe trajectories for an Unmanned Ground Vehicle (UGV), since both robot stability and path execution feasibility must be guaranteed. In these scenarios, the adoption of a swarm of Unmanned Aerial Vehicles (UAVs) to survey the area and reconstruct 3D models of the environment can be really helpful. In this paper we will present a complete solution combining three different aspects. The first is the coverage path planning and concerns the definition of UAV trajectories for...
In this paper, we present and evaluate a framework for gesture recognition using four wearable IMUs to indirectly control a mobile robot. Six gestures involving different hand and arm motions are defined. A novel algorithm based on Online Lazy Neighborhood Graph (OLNG) search is used to recognize the gestures. We use this algorithm to classify the gestures online and trigger predefined behaviors. Experiments show that the framework is able to correctly detect and classify six different gestures in real-time with an average success rate of 81.6%, while keeping the false positive rate low by...
This paper focuses on realization of embodied remote communication via telexistence robot with augmented reality (AR). Though a robot equipped with communication functions can realize natural conversation remotely, the robot has to reproduce bodily expressions of the robot user for achieving embodied communication. A humanoid is optimal shape for the purpose, but this kind of robot is currently expensive and difficult to popularize. By contrast, a 3DOF head-moving robot is easier to develop, but the bodily expression capacity is limited. To solve the trade-off problem, we propose an AR-based...
LiDAR-based occupancy grid mapping can lead to overly conservative detection of obstacles in non-urban autonomous driving scenarios, e.g. grass in the middle of the lane is often interpreted as obstacle although it is actually driveable. We therefore aim to augment our current grid-based environment representation with additional information derived from pixel-level semantic segmentation in camera images. We project the resulting segmentation map onto an additional semantic layer in the environment grid representation by utilizing LiDAR data for pixel-to-cell association to improve our...