Perception in intelligent systems is closely coupled with action and the actual environment the system is situated in. Embodied robots exploit by means of sensory-motor coordination the environment in simplifying a complex visually guided task, yielding successful robust perceptual behavior. This active vision approach enables robots to sequentially and interactively select and analyze only the...

Motion control in dynamic environments is one of the most important problems using mobile robots collaboration with humans and other robots. In this paper, motion a four-Mecanum-wheeled omnidirectional robot (OMR) studied. The robot’s differential equations are extracted Kane’s method converted to discrete state space form. A nonlinear model predictive (NMPC) strategy designed based on derived ...

Abstract: In this study a sensor fusion technique was developed for indoor localization of omnidirectional mobile robots. The proposed sensor fusion method combines the measurements made by an indoor localization system (e.g. ultrasound based localization) with the measurements that comes from an IMU (Inertial Measurement Unit). It was taken into consideration that the measurements made by the ...

With the expansion of cyber-physical system (CPS) application area, its importance has become more and prominent. As one typical applications CPS, anomaly detections mobile robots have attracted attention all parties. part face problem that conventional residual-based detection methods cannot identify stealthy anomalies. The mainly use residual signal calculated from control measure output for ...

− Autonomous robots need to acquire both omnidirectional view and stereo in real-time without sacrificing too much image resolution. The recent catadioptric omnidirectional vision sensors provide simple affordable realtime omni-directional images but only at the cost of rather low image resolutions. This work describes a novel omnidirectional stereo image sensor providing the highest resolution...

In the field of robotics, simulators are important tools to verify algorithms. They are required to generate movements and physical interactions of objects based on the dynamics and to simulate outputs of sensors. However, few simulators of robots simulate dynamics of objects and outputs of sensors, in particular omnidirectional cameras, which are effective sensors because they can acquire an o...

The precise positioning of robotic systems is of great interest particularly in mobile robots. In this context, the use of omnidirectional vision provides many advantages thanks to its wide field of view. This paper presents an image-based visual control to drive a mobile robot to a desired location, which is specified by a target image previously acquired. It exploits the properties of omnidir...

The primary objective of this paper is to develop an adaptive bilateral impedance control method for a team of mobile robotic agents, which implements formation control, cooperative grasping force compensation, and operator induced error compensation for unconstrained, constrained, and transition motions. In this approach, a leader robot is selected and teleoperated by an operator and the follo...

ion and Control for Swarms of Robots Calin Belta , Guilherme A.S. Pereira, and Vijay Kumar 1 Mechanical Engineering and Mechanics Drexel University, Philadelphia, PA 19104 USA [email protected] 2 GRASP Laboratory University of Pennsylvania, Philadelphia, PA 19104 USA {guilherm, kumar}@grasp.cis.upenn.edu Abstract. This paper addresses the design of simple robot behaviors that realize emergent gr...