Innovations in Robot Mobility and Control - Srikanta Patnaik et al (Eds) Part 10 pdf

... 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 ... the input state vector is normalised so the in- puts lie in the range [0,1]. Table 5.3 Typical rule-base and rule confidences obtained after training. Rule confidences are shown in brack...

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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 2005 of Indoor Environments, Studies in Computational ... Journal of Robotic Systems 18 (2001), no. 10, 577–587. 2 S. Betgé-Brezetz, R. Chatila, and M. Devi, Natural scene understand- ing for mobile robot navigation, IEEE Intern...

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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 -1 0 3-5 4 0-2 689 2-8 Springer Berlin Heidelberg New York ISBN-1...

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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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... with inter -robot constraints, determine whether there exist robot trajectories that maintain those constrains. For both directed and undirected (not necessarily rigid) formations we obtain algebraic ... control and sensing capabilities of the individual robots. As the inter -robot dependencies get more complicated, a systematic framework for controlling formations is vital. I...

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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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... 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 ... of co-ordinate and metrical information of objects found in the environment. Originally, geo- metrical maps were a 2-D CAD [10, 11] representation of the environment. Lebegue and...

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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 ... navigating the labora- tory environment, using the recognition of visual landmarks and a topo- logical map to perform self-localisation. The SVALR architecture is capa- ble of ach...

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... croscope is shown in Fig. 3 .10. g is called the optical tube length and is the distance between the posterior principal focal plane of the objective and the anterior principal focal plane of the ... 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 , a...

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... 265 5 1 2 3 4 6 7 8 9 10 11 12 Start 13 1415 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. 7.7. Paths in the environment ... feature matching algo- rithm was worst at finding the be...

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