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Multi-knowledge Approach for Mobile Robot Identification of a Changing Environment
In this paper, a large environment is divided into sub-areas to enable a robot to apply precise localization technology efficiently in real time....
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In Situ Autonomous Biomechanical Characterization
This paper presents a fully automated microrobotic system based on force/vision referenced control designed for cell mechanical characterization. The...
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Image-Based Visual Servoing for Mobile Robots with Catadioptric Camera
This paper presents an image-based visual servoing strategy for holonomic mobile robots equipped with a catadioptric camera. This kind of vision...
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Representation, Recognition and Generation of Actions in the Context of Imitation Learning
The paper deals with the development of a cognitive architecture for learning by imitation in which a rich conceptual representation of the observed...
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Efficient Failure Detection for Mobile Robots Using Mixed-Abstraction Particle Filters
In this paper, we consider the problem of online failure detection and isolation for mobile robots. The goal is to enable a mobile robot to determine...
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Reduction of Learning Time for Robots Using Automatic State Abstraction
The required learning time and curse of dimensionality restrict the applicability of Reinforcement Learning(RL) on real robots. Difficulty in...
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Optimization and Fail-Safety Analysis of Antagonistic Actuation for pHRI
In this paper we consider some questions in the design of actuators for physical Human-Robot Interaction (pHRI) under strict safety requirements in...
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Navigation and Planning in an Unknown Environment Using Vision and a Cognitive Map
We present a framework for Simultaneous Localization and Map building of an unknown environment based on vision and dead-reckoning systems. An...
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How to Construct Dense Objects with Self-Recondfigurable Robots
Self-reconfigurable robots can change their shape by rearranging the modules from which they are built. This self-reconfiguration process has proven...
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Incremental Learning of Task Sequences with Information-Theoretic Metrics
Learning tasks from human demonstration is a core feature for household service robots. Task knowledge should at the same time encode the constraints...
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A Multi-agent System Architecture for Modular Robotic Mobility Aids
In this paper a multi-agent system architecture for a modular mobility enhancement system is presented. The system consists of one or multiple mobile...
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Robust Monte-Carlo Localization Using Adaptive Likelihood Models
In probabilistic mobile robot localization, the development of the sensor model plays a crucial role as it directly influences the efficiency and the...
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Exploiting Distinguishable Image Features in Robotic Map** and Localization
Simultaneous localization and map** (SLAM) is an important research area in robotics. Lately, systems that use a single bearing-only sensors have...
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Bilateral Control of Different Order Teleoperators
This paper presents a bilateral control method for teleoperation systems where the master and the slave are modeled by different order transfer...
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An Ontology of Robotics Science
This paper describes ground-breaking work on the creation of an ontology for the domain of robotics as a science. An ontology is a collection of...
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Metric Localization with Scale-Invariant Visual Features Using a Single Perspective Camera
The Scale Invariant Feature Transform (SIFT) has become a popular feature extractor for vision-based applications. It has been successfully applied...
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Numerical Simulation of In-Flight Iced Surface Roughness
CFD is a primary tool used to assess the in-flight effects of atmospheric icing on aircraft. In-flight ice accretion codes use CFD computed...
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Numerical Simulation of Coupled Heat and Mass Transfer for Airfoil Ice Protection Systems
The design of ice thermal protection systems is multidisciplinary and highly integrated with that of other aircraft systems and aircraft...
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Numerical Simulation of Ice Crystals and Mixed-Phase In-Flight Icing Conditions
To comply with certification rules, aircraft must demonstrate their operability in ice crystal icing conditions. This chapter is devoted to ice...
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Numerical Simulation of Ice Crystals Growth in Turbofan Engines
A series of high-altitude turbofan engine malfunctions characterized by flameouts and sudden power losses have been reported in recent years. The...