Training for Our Volumetric CNNs To produce occupancy grids from meshes, the faces of a mesh are subdivided until the length of the longest edge is within a single voxel; then all voxels that intersect with a face are marked as occupied. For 3D resolution 10,30 and 60 we generate voxelizations with central regions 10, 24, 54 and padding 0, 3, 3 respectively. This voxelization is followed by a h...

This paper investigates the use of ranging data collected from ultrasonic sensors mounted on a two-wheeled mobile robot, Pioneer 3-DX, to build an occupancy grid map for an unknown indoor environment based on fuzzy sensor fusion of the ultrasonic ranging data. Because of uncertainties inevitably encountered by using the ultrasonic sensors, a more reliable sensor model is derived to solve the pr...

Two stereo vision-based mobile robots navigate and autonomously explore their environment safely while building occupancy grid maps of the environment. A novel landmark recognition system allows one robot t o automatically find suitable landmarks in the environment. The second robot uses these landmarks to localize itself relative to the first robot’s reference frame, even when the current stat...

The evidence grid representation was formulated at the CMU Mobile Robot Laboratory in 1983 to turn wide angle range measurements from cheap mobile robot-mounted sonar sensors into detailed spatial maps. It accumulates diffuse evidence about the occupancy of a grid of small volumes of nearby space from individual sensor readings into increasingly confident and detailed maps of a robot’s surround...

existed electricity grids deliver produced power to the consumer passing through transmission and distribution grids. According to high losses of these grids in transmission level and inexistence of bilateral interaction for simultaneous information exchange, a concept of smart grids were made by capabilities such as consciously participation of consumers in the smart electricity grids, an amou...

Radar offers advantages as a robotic perception modality because it is not as vulnerable to the vacuum, dust, fog, rain, snow and light conditions found in construction, mining, agricultural and planetary-exploration environments. However radar has shortcomings such as a large footprint, sidelobes, specularity effects and limited range resolution—all of which result in poor environment maps. Th...

Despite growing attention in autonomy, there are still many open problems, including how autonomous vehicles will interact and communicate with other agents, such as human drivers and pedestrians. Unlike most approaches that focus on pedestrian detection and planning for collision avoidance, this paper considers modeling the interaction between human drivers and pedestrians and how it might inf...

One of the problems usually discussed in autonomous mobile robot navigation is how to build a map of the environment where the robot is navigating. In the case of indoor navigation, a suitable method to do this mapping is the fusion of the data that are gathered from the several sensors, which are mounted on the robot. Here, a mobile robot equipped just with range finding sensors has been suppo...

For navigation in a partially known environment it is possible to provide a model that may e used or guidance in the navigation and as a basis for selective sensing. In this paper a navigation system for an autonomous mobile robot is presented. Both navigation and sensing is build around a graphics model, which enables prediction of the expected scene content. The model is used directly for pre...

Managing the bandwidth requirements of a team of robots operating cooperatively is an ubiquitous and commonly overlooked problem, despite being a crucial issue in the successful deployment of robotic teams. As the team’s size grows, its bandwidth requirements can easily rise to unsustainable levels. On the other hand, general-purpose compression techniques are commonly used to transmit data thr...