In this paper, we present a directional antenna-based leader-follower robotic relay system capable of building end-toend communication in complicated and dynamically changing environments. The proposed system consists of multiple networked robots one is a mobile end node and the others are leaders or followers acting as radio relays. Every follower uses directional antennas to relay a communica...

The Lane-Curvature Method (LCM) presented in this paper is a new local obstacle avoidance method for indoor mobile robots. The method combines the Curvature-Velocity Method (CVM) with a new directional method called the Lane Method. The lane method divides the environment into lanes, and then chooses the best lane to follow to optimize travel along a desired heading. A local heading is then cal...

Mobile mechanical manipulators are one of the automation aspects which were revealed in last years of twentieth century. These machines assume the responsibility of human and gradually expand the domain of their activities in industry. This paper is a presentation of the Sweeper Robot designed in the Robotic Laboratory of Iran University of Science and Technology. The original design of this ro...

in recent years many researches are carried out to develop robots for agricultural applications. one of the main steps in agricultural robot fabrication is the generation of guidance signals. the objective of this research was a feasibility study of ultrasonic sensors in generating guidance signals to determine the position and orientation of a mobile robot for greenhouse applications. a series...

We propose a computational model which is consistent with several neurophysiological findings concerning biological head-direction cells and hippocampal place cells. The model consists of two separate neural systems providing directional and place coding representations, respectively. These two modules are strongly coupled and interact with each other to form a unitary spatial learning system. ...

ODIS is an omni-directional mobile robot designed to autonomously or semi-autonomously inspect automobiles in a parking lot. Periodically, its position and orientation references need to be reset. This paper considers visual servoing to parking lot lines as one possible approach. Analysis and simulations demonstrate that a surprisingly simple proportional controller in the image coordinates can...

In this paper we present an efficient multi-baseline stereo algorithm for panoramic image data. We derive a parameterization of epipolar curves in terms of inverse depth. As a result the search for image correspondences across multiple images can be performed efficiently. Furthermore, depth estimates are obtained directly thus bypassing the need to perform explicit stereoscopic triangulation. W...

A navigation algorithm providing motion planning for two-wheeled mobile robots is proposed in this paper. The integrates path planning, velocity and controller design. Bidirectional rapidly-exploring random trees algorithms (RRT) with pruning smoothing mechanism are firstly used to obtain a collision-free the robot destination directional continuity. Secondly, based on trapezoidal profile both ...

this paper aims to discuss the requirements of safe and smooth trajectory planning of transporter mobile robots to perform non-prehensile object manipulation task. in non-prehensile approach, the robot and the object must keep their grasp-less contact during manipulation task. to this end, dynamic grasp concept is employed for a box manipulation task and corresponding conditions are obtained an...