Innovations in Robot Mobility and Control - Srikanta Patnaik et al (Eds) Part 14 ppsx

... 265 5 1 2 3 4 6 7 8 9 10 11 12 Start 13 141 5 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 in t...

Ngày tải lên: 10/08/2014, 04:22

... 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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... 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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... 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 ... 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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... 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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... 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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