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This paper presents a method of autonomous topological modeling and localization in a home environment using only low-cost sonar sensors. The topological model is extracted from a grid map using cell decomposition and normalized graph cut. The autonomous topological modeling involves the...
This paper presents a supervised learning approach to improving the autonomous mobility of wheeled robots through sensing the robot’s interaction with terrain ‘underfoot.’ Mobility characterization is cast as a hierarchical task, in which pre-immobilization detection is achieved using support...
In this paper we describe a novel decentralized control strategy to realize formations of mobile robots. We first describe how to design artificial potential fields to obtain a formation with the shape of a regular polygon. We provide a formal proof of the asymptotic stability of the system,...
Surprisingly complex tasks can be solved using a behaviour-based, reactive control system, i.e., a system that operates without an explicit internal representation of the environment and the own body. Nevertheless, application of internal representations has gained interest in recent years...
A passenger-carrying biped robot is a practical robot capable of carrying a passenger for both entertainment purposes and disabled transport by means of biped walking. In the walking controls of the biped walking robot, changes in the payload are not generally considered. However, in the case of...
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