This paper regards the application of stereovision for navigating a mobile robot in an unknown environment. The robot, provided with two cameras, moves inside a building. Thanks the analysis of the streams of data the distance between the robot and the other objects (walls, obstacles, dynamic obstacles, other robots) is provided in real time and the robot trajectory is set. The paper presents t...

The aim of the MA thesis "Visualization of simulations of a robot operated car park system" is to identify the best practices and technologies to present the effectiveness of robot operated car park system's underlying algorithm to potential customers. An application demonstrating the work of the robots is built using the identified technologies and best practices. The user experience of the ap...

We present some results of our research in the field of Machine Learning applied to robotics problems. In particular we have investigated on: (i) the application of Learning Classifier Systems to the synthesis of robot controllers; (ii) learning of fuzzy controllers; (iii) learning of purposeful representations of the environment; (iv) and the application of versions of Q-learning to robot trai...

Quantitatively evaluating the e ectiveness of software architectures for multi-robot control is a challenging task. Exacerbating the problem is the fact that architectures are typically constructed to address di erent design goals and application domains. In the absence of benchmarks that capture the variety of issues that arise in multi-robot coordination and cooperation, the system developer ...

In this paper we discuss the application of switching control to problems in intelligent robot control. We will show a connection between research issues in robot locomotion and issues in robot gymnastics, and robot air hockey. These problems are fundamentally related to the control of redundant and underactuated robots. We discuss the general problem of switching control and relate these conce...

This paper discusses the role of the product modelling technology in construction robotics control. Information models for the representation of construction product and process information enable more intelligent behaviour of construction robot tools, because construction knowledge can be transferred into the robots. In this paper an information model is presented for product as well as proces...

This paper reports a modular robotic system currently in development for performing intra-operative 3-D ultrasound scans. The final goal is to be able to utilize ultrasound as a guidance and imaging modality for a variety of computer integrated surgery applications by overcoming the limits it’s handheld nature presents. The primary component of the system is a compact 3 DOF robot called the Tra...

The application of Internal Model Control for process control has received much attention during the past decade. In this paper, the application of IMC for robot control is investigated. Although the IMC approach is shown to be more robust as compared to conventional robot control approaches, such as the computed-torque approach, its performance degrades in the presence of large modelling uncer...

In this paper, we propose a novel neural architecture named PerAc which is a systemetic way to decompose the control of an autonomous robot in perception and action flows. We first present an application of the PerAc architecture to the simulation of a vision system with a moving eye. Then we propose a second application where the robot learns to return from any starting place to a previously d...

Humanoids have increasingly become the focus of attention in robotics research in recent years, especially in service and personal assistance robotics. This paper presents the application developed for humanoid robots in the therapy of dementia patients as a cognitive stimulation tool. The behaviour of the robot during the therapy sessions is visually programmed in a sessio...