Advances in wireless sensors and position technologies such as GPS enable location-based services that rely on the tracking of continuously changing positions of moving objects. The key issue in tracking techniques is how to minimize the number of updates, while providing accurate locations for query results. In this paper, for tracking networkconstrained moving objects, we first propose a simu...

Micro-electro-mechanical-systems (MEMS) inertial measurement unit (IMU) outputs are corrupted by significant sensor errors. The navigation errors of a MEMS-based inertial navigation system will therefore accumulate very quickly over time. This requires aiding from other sensors such as Global Navigation Satellite Systems (GNSS). However, it will still remain a significant challenge in the prese...

This paper represents a first step towards a navigation system based on a ARGONAUT DVL (Doppler Velocity Log) sensor for an underwater remotely operated vehicle (ROV). The sensor measures the water currents, the vehicle ground speed, the altitude, the depth and its attitude. The navigation system is formulated in a way that is able to deal with the future integration of new sensors like a DGPS....

In determining position and attitude, vision navigation via real-time image processing of data collected from imaging sensors is advanced without a high-performance global positioning system (GPS) and an inertial measurement unit (IMU). Vision navigation is widely used in indoor navigation, far space navigation, and multiple sensor-integrated mobile mapping. This paper proposes a novel vision n...

Agricultural vehicle navigation includes both on-road and on-field operations. The objective for on-road navigation is to guide the vehicle traveling on paved or prepared road according to a scheduled path plan, and for on-field guidance is to guide the vehicle following crop rows without overrun on crops. In this paper, the authors have presented an on-field navigation system with redundant se...

To address the bottleneck issues of an elastic-style six-axis force/torque sensor (six-axis force sensor), this work proposes a no-elastic piezoelectric six-axis force sensor. The operating principle of the piezoelectric six-axis force sensor is analyzed, and a structural model is constructed. The static-active design theory of the piezoelectric six-axis force sensor is established, including a...

In discrete geometry, the Distance Transformation and the Medial Axis Extraction are classical tools for shape analysis. In this paper, we present a Hierarchical Discrete Medial Axis, based on a pyramidal representation of the object, in order to efficiently create a sphere-tree, which has many applications in collision detection or image synthesis.

Nowadays, the use of outdoor navigation applications is quite common. For indoor navigation, this case still an emerging application due to lack a standardised positioning equipment, higher costs, accuracy issues, more complex structure spaces and fact that comprehensive network model support for floor-level paths non-level studies on computation routes are not fully developed yet. Due degree c...

In this paper we present the first part, part 1 of two, of a complete exploration and navigation methodology that enables a robot to safely navigate in an unknown environment. Reactive sensor-based navigation tasks and control laws are derived from the interaction between the robot and its workspace. The perception is performed by a two-dimensional laser range-finder mounted on the robot. React...