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...

Recent image-based robotic systems use predicted future state images to control robots. Therefore, the prediction accuracy of image affects performance robot. To predict images, most previous studies assume that camera captures entire scene and environment is static. However, in real robot applications, these assumptions do not always hold. For example, if a attached mobile robot, its view chan...

In this paper, we propose SURF feature based approach for mobile robot navigation. In this approach, we capture environmental images by using omni-directional camera and extract features of these images by using SURF. We treat these features as landmarks and estimate robot self-location and direction of motion. SURF features are invariant under scale change and rotation and robust under image n...

Autonomous navigation of mobile robot requires a ranging system for measurement of distance to environmental objects. It is obvious that the wider and the faster distance measurement gives a mobile robot more freedom in trajectory planning and control. The active omni-directional ranging system proposed in this paper is capable of obtaining the distance for all 3600 directions in real-time beca...

The structure of OmniKity-I (OK-I), the miniature omni-directional mobile robot, and its kinematics and dynamics models are presented. OK-I has three DOFs in the plane. A conventional two wheeled mobile robot (2-WMR) serves as the base of OK-I for translational motion. The robot body is on top of the base. The third motor controls angular motion of the body as the base turns according to the tr...

In this paper, we present the method of localization system that uses iGPS (indoor GPS) sensor and Omni‐directional vision sensor in the environment involving landmark. Self‐assembly robots need to know its own position to assemble to other robot. The indoor GPS (iGPS) is a simple and cheap localization sensor to adapt self‐assembly robots in the indoor environment. However, the error range of ...

Current and emerging mobile devices are omni directional in wireless communication. Such omni directionality not only limits device energy efficiency but also poses a significant challenge toward the capacity of wireless networks through inter-link interference. In this work, we seek to make mobile clients directional with beamsteering. We first demonstrate that beamsteering is already feasible...