Innovations in Robot Mobility and Control - Srikanta Patnaik et al (Eds) Part 7 ppsx

... depth-of-field and field-of-view. How- ever, these concepts will fail unless particular care is taken to ensure reli- able modeling and transformation of data. The total system will have in- creased ... 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 , ass...

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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 ... the N robots by the M sites) to a final or target configuration. x A formation feasibility problem: given the kinematics of several robots along with inter -robot constraints, determine...

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... 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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... 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. 7. 7. Paths in the environment where test 1 was conducted. The training positions ... feature matching algo- rithm was worst at finding the best match between an image in the training Using Visual Features for Building and Lo...

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... 3-5 4 0-2 6549-X Vo l . 8. Srikanta Patnaik, Lakhmi C. Jain, Spyros G. Tzafestas, Germano Resconi, Amit Konar (Eds.) Innovations in Robot Mobility and Control, 2005 ISBN 3-5 4 0-2 689 2-8 1 Multi -Robot ... 2005929886 ISSN print edition: 186 0-9 49X ISSN electronic edition: 186 0-9 503 ISBN-10 3-5 4 0-2 689 2-8 Springer Berlin Heidelberg New York ISBN-13 9...

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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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... 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 application," in ... (SAART) neural net- work for neuro-engineering of robust ATR systems," in Proc. IEEE Interna- tional Conference on Neural Networks, pp.246 1-2 466, 1995. 41. P. Lozo. 19 9...

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... 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 reinforcement learning ... effector acceleration Inference machine Inference machine Subnetwork X Subnetwork Y Subnetwork Z Fig. 5. 17 Traditional hierarchical model for the neurofuzzy controller with three inputs. Infer...

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... Journal of Robotic Systems 18 (2001), no. 10, 577 –5 87. 2 S. Betgé-Brezetz, R. Chatila, and M. Devi, Natural scene understand- ing for mobile robot navigation, IEEE International Conference on Robotics ... Trans. Robotics and Automation 10 (1994), no. 6, 77 6 78 2. 17 A.J. Davison and N. Kita, Sequential localisation and map-building for real time computer vision and rob...

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