Field and Service Robotics - Corke P and Sukkarieh S (Eds) Part 9 ppsx

... referred to [10]. Among these differen ta pproac hes, stereo-based vision ha ve be en re- ported as the mostpromising approachtoobstacle detection [7]. The recent P. Corke and S. Sukkarieh (Eds.): Field and Service Robotics, STAR 25, pp. 43–54, 2006. © Springer-Verlag Berlin ... motion.Acousticsensors such as Dopplervelocitylogs are a commonmeans of obtainingaccuratemotioninform...

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... been surpressed (set to 0.5) usingDOG pre-processing. Thisis because untextured regions willalwaysreturnahigh NCCresponse whether they areatzero disparityornot. The outputissparse and noisy.The palm is ... by brightness or contrast variations between imagepairs. In this approach, we assign abooleandescriptor string to eachsite and then compare thedescriptors. The descriptor is assembled b...

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... the desire to automate the whole P. Corke and S. Sukkarieh (Eds.): Field and Service Robotics, STAR 25, pp. 1 29 140, 2006. © Springer-Verlag Berlin Heidelberg 2006 114 P. Thompson and S. Sukkarieh Easting ... theenvironment anddoesnot compute anygeometrical informa- tion. Whilethis work buildsinpartuponearly experiments reportedin[8] P. Corke and S. Sukkarieh (Ed...

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... imple- men tat ion so fs to ch ast ic SLA Mr epr esen tt hes eu ncerta in tie sa nd co rrela tio ns P. Corke and S. Sukkarieh (Eds.): Field and Service Robotics, STAR 25, pp. 167–178, 2006. © Springer-Verlag ... pro- vided. Section 3 addresses some implementation issues in D-SLAM including data association, state recovery and computational complexity. Experimen- tal and sim...

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... detectionisthe processofforming possible vehicle hypotheses based on thelaser data readings. This problem is addressedinthis paperusing bayesian programming[2]. Bayesian programsprovidesuswithaframework forencoding ... metric maps are easy  Work supported by ProBayes andthe French ANRT(National Association forTechnical Research). P. Corke and S. Sukkarieh (Eds.): Field and Servi...

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... models the sensorreadings in terms of “dan- ger” levels sensed across its area and creates aglobalmap in sensor space. P. Corke and S. Sukkarieh (Eds.): Field and Service Robotics, STAR 25, pp. ... paper we describe experiments with networks of robots and sensors in support of search and rescue and first response operations. The system we consider includes a network of M...

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... partially supportedbyaConacyt scholarship.Wealso want to thankthe supportofthe french CNRS RobeaParkNavand thePredit Mobivip projects. P. Corke and S. Sukkarieh (Eds.): Field and Service Robotics, STAR ... Section 5 discusses the exper- imental results. The paper ends by exposing our conclusions and explaining future research directions. 2Problem Overview This paperproposes a...

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... U. S. A. [2] In case of suchnaturalorman-madedisasters, it is necessary to graspawhole P. Corke and S. Sukkarieh (Eds.): Field and Service Robotics, STAR 25, pp. 415–425, 2006. © Springer-Verlag ... controlofunderactuatedmechanical nonminimum-phasesystems. PhDThesis, EPLF,Switzerland 11. Olfati-Saber R(2001) Nonlinear control of underactuatedmechanical systems with application...

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... approaches to this problem[1], [3],[5], [8].This paper also presents a modular solution to deal with the differentaspects of control. The focus of this P. Corke and S. Sukkarieh (Eds.): Field and Service ... the propeller generated forces in comparison to those due to the free-stream dynamic pressure. This change occurs as the vehicle goes from low-speed vertical flight (propeller...

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... Minimization”, Proc, IROS, pp 20 6-2 11, Osaka, Japan, 199 1. 5. Shin, D.H., Singh, S. , ”Path Generation for Robot Vehicles Using Composite Clothoid Segments” tech. report CMU-RI-TR -9 0-3 1, Robotics Institute, ... dangerous footholds for RoQ2 but also to determine the sole planes. Sole sensors composed by FSRs are less reliable as pressure sensors. Its stan- dard error of measureme...

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