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Up to now, walking robots have been working outdoors under favorable conditions and using very large stability margins to cope with natural environments and intrinsic robot dynamics that can cause instability in these machines when they use statically-stable gaits. The result has been very slow...
This paper addresses the problem of localization and map construction by a mobile robot in an indoor environment. Instead of trying to build high-fidelity geometric maps, we focus on constructing topological maps as they are less sensitive to poor odometry estimates and position errors. We...
We present the design and evaluation of an architecture for collision avoidance and escape of mobile autonomous robots operating in unstructured environments. The approach mixes both reactive and deliberative components. This provides the vehicle’s behavior designers with an explicit means to...
This article deals with uncertainty and imprecision treatment during the mobile robot localization process. The imprecision determination is based on the use of the interval formalism. Indeed, the mobile robot is equipped with an exteroceptive sensor and odometers. The imprecise data given by...
This paper presents a framework for visual scanning and target tracking with a set of independent pan-tilt cameras. The approach is systematic and based on Model Predictive Control (MPC), and was inspired by our understanding of the chameleon visual system.
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