Innovations in Robot Mobility and Control - Srikanta Patnaik et al (Eds) Part 13 pdf

... 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 ... Castejón et al. 238 246 6 D. Blanco, B.L. Boada, L. Moreno, and M.A. Salichs, Local mapping from on-line laser voronoi extraction, IEEE/RSJ International Confer- ence on...

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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 ... learning with back-propagation training; ii. on-line reinforcement learning; iii. hybrid of supervised and reinforcement learning. In (i), we learn ‘from scratch’ by back-propagation using...

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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 -1 3...

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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 ... 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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... 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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... 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 , asso- ciated ... 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 pla...

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... feature matching algo- rithm was worst at finding the best match between an image in the training Using Visual Features for Building and Localizing within Topological Maps 263 7.4.2 Determining the ... how the algorithm works. The original data reflects the errors in the odometric readings of the robot. In Step 1, P. E. Rybski et al. Using Visual Features for Building and Localiz...

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