This paper presents a novel approach to image-based visual servoing by making motion plans directly in the image plane. By skipping the step of transferring image features back to robot pose, we are able to utilize the image features for a direct and fast motion planning solution. Standard visual servoing techniques can then be applied to track the given trajectory. In this paper , we have appl...

this paper addresses path planning with uncertainty for a car-like robot subject to connguration uncertainty. The robot estimates its conngu-ration with odometry and an absolute localization device based on environmental feature matching. The issue is to compute safe paths that guarantee that the goal will be reached in spite of the uncertainty. The solution proposed relies upon the automatic c...

This paper addresses path planning with uncertainty for a car-like robot subject to connguration uncertainty. The robot estimates its connguration with odometry and an absolute localization device based on environmental feature matching. The issue is to compute safe paths that guarantee that the goal will be reached in spite of the uncertainty. The solution proposed relies upon the automatic co...

A self-reconfigurable robot is a robotic device that can change its own shape. Self-reconfigurable robots are commonly built from multiple identical modules that can manipulate each other to change the shape of the robot. The robot can also perform tasks such as locomotion without changing shape. Programming a modular, self-reconfigurable robot is however a complicated task: the robot is essent...

| This paper presents a novel control architecture for a car-like vehicle moving in a dynamic and partially known environment. The key idea is to plan and carry out sensor-based manoeuvres. The paper focuses on the reactive part of the architecture that features control experts, i.e. parameterized control programs adapted to a speciic manoeuvre and capable to react in real-time to unforeseen ev...

In recent years, soft computing methods, like fuzzy logic and neural networks have been  presented and developed for the purpose of mobile robot trajectory tracking. In this paper we will present a fuzzy approach to the problem of mobile robot path tracking for the CEDRA rescue robot with a complicated kinematical model. After designing the fuzzy tracking controller, the membership functions an...

snake robots are hyper-redundant robots that are connected with one or two dof joints. they offer a number of potential advantages beyond the capabilities of most wheeled and legged robots. in this paper, kinematics and dynamics of a planar multi-link snake robot in worm-like locomotion on an inclined surface is investigated. in this locomotion, snake robot is able to move in the vertical plane...

In this paper, the dynamic target tracking of a car-like wheeled robot within a sensor-network environment by an intelligent control is developed. The proposed intelligent control is called fuzzy decentralized sliding-mode grey prediction control (FDSMGPC). For implementing dynamic target tracking, two distributed CCD (charge-coupled device) cameras are set up to capture the poses of the tracki...

The use of animal-like autonomous robots might offer new possibilities in the study of animal interactions, if the subject recognises it as a social partner. In this paper we investigate whether AIBO, a dog-like robot of the Sony Corp. can be used for this purpose. Twenty-four adult and sixteen 4-5 months old pet dogs were tested in two situations where subjects encountered one of four differen...