Sensing strategies for disambiguating among multiple objects in known poses

Sensing strategies for disambiguating among multiple objects in known poses

Searching Objects in Known Environments: Empowering Simple Heuristic Strategies

We consider the problem of exploring a known structured environment to find an object with a mobile robot. We proposed a novel heuristic-based strategy for reducing the traveled distance by first obtaining an exploration order of the rooms in the environment and then, searching for the object in each room by positioning the robot through a set of viewpoints. For the exploration order we propose...

Sensing Polygon Poses by Inscription

Yan-Bin Jia Michael Erdmann The Robotics Institute School of Computer Science Carnegie Mellon University Pittsburgh, PA 15213-3891 Abstract Industrial assembly involves sensing the pose (orientation and position) of a part. E cient and reliable sensing strategies can be developed for an assembly task if the shape of the part is known in advance. In this paper we investigate the problem of deter...

Sensing for Mobile Objects

Recent advances in affordable positioning hardware and software have made the availability of location data ubiquitous. Personal devices such as tablet PCs, smart phones and even sport watches are all able to collect and store a user’s location over time, providing an ever-growing supply of spatiotemporal data. Managing this plethora of data is a relatively new challenge and there has been a gr...

Explore or Exploit? Effective Strategies for Disambiguating Large Databases

Data ambiguity is inherent in applications such as data integration, location-based services, and sensor monitoring. In many situations, it is possible to “clean”, or remove, ambiguities from these databases. For example, the GPS location of a user is inexact due to measurement errors, but context information (e.g., what a user is doing) can be used to reduce the imprecision of the location val...