To appear in IEEE/RSJ International Conference on Intelligent Robotic Systems (IROS’98) A Photo-Realistic 3-D Mapping System for Extreme Nuclear Environments: Chornobyl

A "robust" convergent visual servoing system

This paper describes a simple visual servoing control algorithm capable of robustly positioning a three degree of freedom end effector based only on information from a stereo vision system. The proposed control algorithm does not require estimates of the gripper’s spatial position, a significant source of calibration sensitivity. The controller is completely immune to positional camera calibrat...

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2011, San Francisco, CA, USA, September 25-30, 2011

Hybrid system behavior specification for multiple robotic mechanisms

for Multiple Robotic Mechanisms Martin Buss G unther Schmidt Department of Automatic Control Engineering Technical University of Munich D-80290 M unchen, Germany E-mail: martin/[email protected] This paper is published in the Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems IROS, pp. 140-147, Osaka, Japan, 1996. Abstract In this paper we pro...

IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2000, October 30 - Novemver 5, 2000, Takamatsu, Japan

A photo-realistic 3-D mapping system for extreme nuclear environments: Chernobyl

We present a novel stereoscopic mapping system for use in post-nuclear accident operations. First we discuss a radiation shielded sensor array designed to tolerate extended cumulative dose using 4 shielding. Next, we outline procedures to ensure timely, accurate range estimation using trinocular stereo. Finally, we review the implementation of a system for the integration of range information i...