In multi-robot simultaneous localization and mapping (SLAM) systems, the system must create a consistent global map with multiple local maps loop closures between robot poses. However, false-positive caused by perceptual aliasing can severely distort map, especially in GNSS-denied areas, where good prior of relative poses robots is unavailable. addition, performance consistency metric existing ...

as a robot could be stable statically standing on three or more legs, a six legged walking robot can be highly flexible in movements and perform different missions without dealing with serious kinematic and dynamic problems. an experimental six legged walking robot with 18 degrees of freedom is studied and built in this paper. the kinematic and gait analysis formulations are demonstrated by an e...

A new framework of a hierarchical vision-motion planning for a mobile robot under uncertainty is proposed. An optimal plan is generated by twolevel planning: global route selection and local path planning. In global route selection, a sequence of observation points to acquire sufficient information to reach a destination is determined. Both the cost and the uncertainty of vision are considered ...

Robot soccer is played in a dynamic environment. All robots in a team should select their task dynamically and adaptively in a cooperative manner. This paper proposes a framework for task and role selection strategy for distributed multi-robot coordination and its application to robot soccer. To deal with such a dynamic environment, context-based cooperation method is provided. The robot team h...

In multi-robot settings, activity recognition allows a robot to respond intelligently to the other robots in its environment. Conditional random fields are temporal models that are well suited for activity recognition because they can robustly incorporate rich, non-independent features computed from sensory data. In this work, we explore feature selection in conditional random fields for activi...

in this project guidance and control of underwater robot, including three engines and propeller attached to it, by fuzzy control has been investigated. fuzzy control is done based on human experience and requiered laws. the robot can also be controlled and guided by the user. this robot may be used in sea or swimming pool environment for finding goal point and locate in desired direction. in ad...

In this paper, a new method was proposed for the navigation of a mobile robot in an unknown dynamic environment. The robot could detect only a limited radius of its surrounding with its sensors and it went on the shortest null space (SNS) toward the goal. In the case of no obstacle, SNS was a direct path from the robot to goal; however, in the presence of obstacles, SNS was a space around the r...