RESEARCH PAPERS

mobile robot 2012 research papers




Unsupervised and Online Place Recognition for Mobile Robot based on Local Features
free download

ABSTRACT Place recognition approaches have been used for solving topological mapping and localization problems. These approaches are usually performed in supervised and offline mode. In this paper, a robust appearance-based unsupervised and online place 

Generalized Extended State Observer Approach to Robust Tracking Control for WheeledMobile Robot with Skidding and Slipping
free download

ABSTRACT This paper proposes a robust tracking controller based on a Generalized Extended State Observer (GESO) method for a wheeled mobile robot (WMR) with unknown skidding and slipping. Skidding and slipping of a WMR are inevitable in practice. We regard 

An autonomous trimming system of large glass fiber reinforced plastics parts using an omni-directional mobile robot and its control
free download

This paper describes an automated trimming system of large glass fiber reinforced plastic (GFRP) using an omni-directional wheeled mobile robot (WMR) and its path control method. In trimming GFRP parts, much glass fiber and plastic powder dust occur and it becomes 

Policy Feedback for the Refinement of Learned Motion Control on a Mobile Robot
free download

ABSTRACT Motion control is fundamental to mobile robots, and the associated challenge in development can be assisted by the incorporation of execution experience to increase policy robustness. In this work, we present an approach that updates a policy learned from 

Autonomous Construction of a Roofed Structure: Synthesizing Planning and Stigmergy on aMobile Robot
free download

ABSTRACT We demonstrate a scenario in which a mobile robot, according to a plan, builds a structure that it can then enter. The robot interacts with the construction using local sensing. This synthesis of planning and stigmergy opens the way to new construction techniques 

Exploring haptic interfacing with a mobile robot without visual feedback
free download

Search and rescue scenarios are often complicated by low or no visibility conditions. The lack of visual feedback hampers orientation and causes significant stress for human rescue workers. The Guardians project pioneered a group of autonomous mobile robots 

Mobile Robot Control Using a Cloud of Particles
free download

ABSTRACT Common control systems for mobile robots include the use of deterministic control laws together with state estimation approaches and the consideration of the certainty equivalence principle. Recent approaches consider the use of partially observable 

Self-Organized Flocking with a Mobile Robot Swarm: a Novel Motion Control Method
free download

ABSTRACT In flocking, a swarm of robots move cohesively along a common direction. Traditionally, the flocking behavior is realized using two main control rules: proximal control, that makes the robot stay together as one group and that uses only local range and 

Incremental learning of an optical flow model for sensorimotor anticipation in a mobile robot
free download

ABSTRACT In order to anticipate dangerous events, like a collision, an agent needs to make long-term predictions. However, those are challenging due to uncertainties in internal and external variables and environment dynamics. A sensorimotor model is acquired online by 

Mobile robot algebraic localizability
free download

Non-A Inria Lille ,Nord Europe, Parc Scientifique de la Haute Borne 40, avenue Halley  2 Setup and assumptions for localization of unicycle  2 Setup and assumptions for localization of 

Real-time Sound Source Localization for a Mobile Robot Based on the Guided Spectral-Temporal Position Method
free download

ABSTRACT Sound source localization based on a microphone array for mobile robots faces great challenges because of factors such as uncertainty of the robot's movement, noise and reverberation, the requirements of a compact microphone array and so on. This paper 

Human Detection by a Small Autonomous Mobile Robot
free download

Rsum. Nous proposons une mthode utilisant les histogrammes de gradient orient (HOG) et les sparateurs vaste marge (SVM) pour la dtection de personnes partir d'images prises depuis un petit robot mobile autonome. Les travaux antrieurs raliss 

Optimal Motion and Communication for Persistent Information Collection using a Mobile Robot,
free download

ABSTRACT In this paper, we study the problem of persistent information collection using a mobile robot. We consider the scenario where information bits are generated with certain rates at a given set of points of interest (POIs) in a workspace. A mobile robot is then 

Learning for Mobile-Robot Error Recovery
free download

Mobile defense, rescue, and space robots are expected to operate in rough and unknown terrain, typically with the aid of human teleoperation. However, teleoperation alone cannot eliminate robots experiencing locomotion errors, such as when a robot's leg, wheel, or 

A Reactive Collision Avoidance Approach for Mobile Robot in Dynamic Environments
free download

ABSTRACT This paper describes a novel reactive obstacle avoidance approach for mobile robot navigation in unknown and dynamic environment. This approach is developed based on the situated-activity paradigm and a divide and conquer strategy which steers the 

Shape Measurement of a Sewer Pipe Using a Mobile Robot with Computer Vision
free download

ABSTRACT A mobile robot equipped with two lasers and a CCD camera for pipe inspection is proposed. Circular laser streaks that appeared on the inner surface of the pipe reveal the shape of the pipe. The 3D shape of a sewer pipe can be reconstructed considering the 

An iterative linear quadratic regulator based trajectory tracking controller for wheeled mobile robot
free download

ABSTRACT We present an iterative linear quadratic regulator (ILQR) method for trajectory tracking control of a wheeled mobile robot system. The proposed scheme involves a kinematic model linearization technique, a global trajectory generation algorithm, and 

Mobile Robot Collision Avoidance in Human Environments
free download

ABSTRACT Collision avoidance is a fundamental requirement for mobile robots. Avoiding moving obstacles (also termed dynamic obstacles) with unpredictable direction changes, such as humans, is more challenging than avoiding moving obstacles whose motion can 

Dynamic Fuzzy Logic Parameter Tuning for ACO and Its Application in the Fuzzy Logic Control of an Autonomous Mobile Robot
free download

ABSTRACT Ant Colony Optimization (ACO) is a population-based constructive meta-heuristic that exploits a form of past performance memory inspired by the foraging behaviour of real ants. The behaviour of the ACO algorithm is highly dependent on the values defined for its 


FREE ENGINEERING RESEARCH PAPERS