In this paper we present a robot vision mechanism for a multiagent robotic systems for controlling the behavior of the agents. For implementing this vision mechanism we consider the fuzzy technology which is very versatile in this situation. This mechanism offers the surveillance of the entire set of robots and contributes to their behavior. Index Terms — cooperative systems, intelligent contro...

In this paper we present a multisensory vision system that is intended to support the vision requirements of an intelligent robot system. Contrary to many other vision systems, our system has two signi cant new features. First, it contains multiple sensors, object representations, image analysis and interpretation methods in order to solve a number of di erent vision tasks. Secondly, it compris...

Robot soccer has evolved into a very dynamic and competitive field within the last few years, many different robot soccer leagues now exist. Most of the leagues rely on computer vision in one form or another to gather information about the game situation – the position of a team's robots, the position of the opponent's robots and the ball. While some problems robot soccer vision posed have been...

In this paper we present a multisensory vision system that is intended to support the vision requirements of an intelligent robot system. Contrary to many other vision systems, our system has two signiicant new features. First, it contains multiple sensors, object representations, image analysis and interpretation methods in order to solve a number of diierent vision tasks. Secondly, it compris...

This paper presents an optimized algorithm for robot localization which increases the correctness and accuracy of the estimating position of mobile robot to more than 150% of the past methods [1] in the uncertain and noisy environment. In this method the odometry and vision sensors are combined by an adapted wellknown discrete kalman filter [2]. This technique also decreased the computation pro...

Controlling a quadruped robot is a challenging problem in Robotics. In this report I present an application to get the position and the pose of the Little Dog robot using stereo vision. I built a vision system on top of the Little Dog robot and reconstructed a 3-D terrain model using a stereo camera. Then I aligned sequential 3-D models to get the position and the pose using ICP algorithm. In t...

This paper introduces a real-time image processing algorithm based on run length encoding (RLE) for a vision based intelligent controller of a Humanoid Robot system. The RLE algorithms identify objects in the image providing their size and position. A RLE Hough transform is also presented for recognition of landmarks in the image to aid robot localisation. The vision system presented has been t...

We present a universal modular robot architecture. A robot consists of the following intelligent modules: central control unit (CCU), drive, actuators, a vision unit and sensor input unit. Software and hardware of the robot fit into this structure. We define generic interface protocols between these units. If the robot has to solve a new application and is equipped with a different drive, new a...

A key component of a mobile robot system is the ability to localize itself accurately and build a map of the environment simultaneously. In this paper, a vision-based mobile robot localization and mapping algorithm is described which uses scale-invariant image features as landmarks in unmodified dynamic environments. These 3D landmarks are localized and robot ego-motion is estimated by matching...

The paper presents a dynamical sensor control architecture that allows robot arms to perform tasks that with conventional feedback of sensor data fail because of delays or deviations due to the robot dynamics. The architecture distinguishes between robot positional control and refinement of desired positions using vision and / or other sensors. Each of these aspects is designed without the know...