Abstract. Although a large body of literature exists on methods for landmark-based navigation of mobile robots, little has been said about their robustness in the presence of changing and wrong landmark correspondences as well as erroneous compass measurements. To this end, we investigate the practical implications of different compass-dependent approaches to 2D Bearing-Only Navigation (2D BON)...

Article history: Received: 24.01.2014. Received in revised form: 05.03.2014. Accepted: 10.03.2014. There is usually the speed jump problem existing in conventional back-stepping tracking control for four-wheel drive omni-directional mobile robots, a trajectory tracking controller based on adaptive neural dynamics model is proposed. Because of the smoothness and boundedness of the output from th...

The main goal of this paper is to describe the application of two self-localization methods, based on Kalman filter and Monte Carlo fusion of odometry and visual information, to omni-directional soccer robots. The two methods are compared, and the usage of several candidates for the robot posture, provided by the vision-based observation step, is discussed. Simulated and real robot results are ...

This dissertation describes the implementation of an omni-directional vision system as sole sensor for a robot building a topological map of an indoor environment, using the Spatial Semantic Hierarchy created by Benjamin Kuipers [Kuipers 00]. So far, no attempt to implement the SSH using a vision sensor has been made. We will show that an omni-directional vision system is a good sensor for the ...

Competitive bipedal soccer playing robots need to move fast and react quickly to changes in direction while staying upright. This paper describes the application of reinforcement learning to stabilise a flat-footed humanoid robot. An optimal control policy is learned using a physics simulator. The learned policy is supported theoretically and interpreted on a real robot as a linearised continuo...

In this paper, a new teleconference system by using Gigabit Ethernet based omni-directional camera system and flexible middleware system in realtime and bi-directional video transmission is introduced. The omni-directional image has more advantages than conventional one-directional camera in that it provides a wider view than a single directional camera and able to realize flexible teleconferen...

The use of wireless sensor networks to protect sensitive facilities or international borders has attracted more and more attention. In contrast to previous studies in which the barrier coverage problem was solved under the assumption of an omni-directional sensing model, the current study presents a scheme for constructing k-barrier coverage using randomly deployed sensors with directional sens...

although construction has been known as a highly complex application field for autonomous robotic systems, recent advances in this field offer great hope for using robotic capabilities to develop automated construction. today, space research agencies seek to build infrastructures without human intervention, and construction companies look to robots with the potential to improve construction qua...