We present a stereo vision based global self-localization strategy for tiny autonomous mobile robots in a well-known dynamic environment. Global localization is required for an initial startup or when the robot loses track of its pose during navigation. Existing approaches are based on dense range scans, active beacon systems, artificial landmarks, bearing measurements using omni-directional ca...

This paper presents a delay compensator fuzzy control for trajectory tracking of omni-directional mobile robots. Fuzzy logic control (FLC) of the robots is a suitable strategy for dealing with model uncertainties, nonlinearities and disturbances.  On the other hand, in many robotic applications such as mobile robots, delay phenomenon is able to substantially deteriorate the behavior of system's...

This paper addresses the problem of global localization (“where am I”?) by a mobile robot using an omni-directional vision sensor. The approach is mainly concerned with the problem of global localization in a topological map (consisting of a set of panoramic views), though it also gives an approximate estimate of the robot pose relative to the best matching view, so it could also be used as the...

Human Robot Interaction (HRI) is being highlighted since the applications of robots has been extended from industry to a common human environment. The main objective of HRI is delivering an operator’s intention to a robot and the state of the robot to the operator. To deliver human intention to robot, various kinds of methods can be used such as dedicated input devices, gesture, voice, and touc...

In the RoboCup middle-sized soccer league, autonomous robot players in the field are required to localize themselves in real time by utilizing the sensors mounted on themselves. There could be many different kinds of sensors that can serve as part of the solution to this task. Especially, vision sensors are one of the most promising because they are small, light-weight, inexpensive, and the mos...

Multipath routing protocols are distinguished from single-path routing by the fact that they look for and use several routes from a source to destination. Several routing schemes have been proposed in the context of mobile ad hoc networks that uses multiple paths simultaneously by splitting the information among the multitude of paths. However, the effect of route coupling in this environment c...

Measurement of a surrounding environment structure is important for mobile robots to make autonomous locomotion. In this paper, we propose a method for three-dimensional measurement of the environment using an omni-directional camera installed on a mobile robot. The method is based on structure from motion under the assumption that the environment is static. Along with the image sequence, it tr...