Innovations in Robot Mobility and Control - Srikanta Patnaik et al (Eds) Part 5 ppsx

... time. In general these point-based landmarks are corners, van- ishing points and points with distinct colour and contrast in the environ- ments. Unlike point-based landmarks, scene-based landmarks ... virtually anything in the environment can be chosen to serve as landmarks and categorised in three distinct categories of landmarks: point, scene and shape based land- marks. T...

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... a single robot. Individual robots typically obtain partial and noisy data from the surrounding environment. This data is often erroneous, leading to miscalculations and wrong behaviours, and ... Therefore, several local (at the individual robot level) and 1 Multi -Robot Systems 15 Periodic::TopologicalLocalization Periodic::TopologicalMapping Concurrent::Atrv Periodic::Metri...

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... * x c is the target feature coordinates in micro image. 120 R. Devanathan et al. Fig. 3 .5. Left: Optical Flow in X., Right: Optical Flow in Y Markov Random Fields Markov Random Fields theory ... corresponding point in the fol- lowing image, t t . Let the 2-D projection of the straight lines connect- ing these pairs of points be referred to as the displacement field, U ,...

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... 2 65 5 1 2 3 4 6 7 8 9 10 11 12 Start 13 14 15 16 17 18 19 20 21 22 23 24 25 T 1 -5 T 1-6 - reference position indicating robot orientation and position - test - 1 position : T 1-7 T 1-4 T 1-9 T 1-8 T 1-3 T 1-0 T 1-1 T 1-2 T 1-1 0 T 1-1 2 T 1-1 1 Fig. ... feature matching algo- rithm was worst at finding the best match between an image i...

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... Perception, 20 05 ISBN 3 -5 4 0-2 654 9-X Vo l . 8. Srikanta Patnaik, Lakhmi C. Jain, Spyros G. Tzafestas, Germano Resconi, Amit Konar (Eds.) Innovations in Robot Mobility and Control, 20 05 ISBN 3 -5 4 0-2 689 2-8 1 ... Number: 20 059 29886 ISSN print edition: 186 0-9 49X ISSN electronic edition: 186 0-9 50 3 ISBN-10 3 -5 4 0-2 689 2-8 Springer Berlin Heid...

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... the inter -robot formation. Distributing the group control tasks to individual robots must be compatible with the control and sensing capabilities of the individual robots. As the inter -robot ... with inter -robot constraints, determine whether there exist robot trajectories that maintain those constrains. For both directed and undirected (not necessarily rigid) formations...

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... essentially two major types of maps; geomet- rical and topological maps. Geometrical maps provide details of metrical information (exact co-ordinates and distances) between objects found in the ... the 3-D external environment. As a result, depth Q.V. Do et al. : Vision-Based Autonomous Robot Navigation, Studies in Computational Intelli- www.springerlink.com c  Springer-Verla...

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... blurred using a 5x5-averaging win- dow for achieving distortion and small size and view invariant landmark recognitions using shape attraction. A window-based searching mechanism 2 Vision-Based ... on Intelligent Robots and Sys- tems, pp.88 3-8 88, 2001. 19. D. Jung and A. Zelinsky, "Integrating spatial and topological navigation in a behaviour-based multi -robot appli...

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... 0. 85) L (0.1, 0.1, 0. 15) 5 Intelligent Neurofuzzy Control of Robotic Gripper 1 75 5 Intelligent Neurofuzzy Control of Robotic Gripper 189 Table 5. 4 Rule-base and rule confidences (in brackets) ... obtained after training. Rule confidences are shown in brackets in the following order: (i) weights after off-line supervised training; (ii) weights found from on-line reinfor...

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... once, P.E.Rybskietal.: Using Visual Features for Building and Localizing within Topological Maps www.springerlink.com c  Springer-Verlag Berlin Heidelberg 20 05 of Indoor Environments, Studies in Computational ... GPS that supply global meas- ures. The local model integration is easy and allows building topo- geometrical models in real time. Fig. 6 .55 . Real environment Fig. 6 .56...

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