Risk analysis in combination with terrain classification is a common approach in mobile robotics to adapt robot control to surface conditions. But for climbing robots it is hard to specify, how the robotic system and especially the adhesion is affected by different surfaces and environmental features. This paper will introduce the climbing robot CROMSCI using negative pressure adhesion via mult...

This paper presents a new approach for fast and accurate generation of cubic spline trajectories for non-circular omnidirectional mobile robots and automated guided vehicles (AGVs). This method can be combined with any existing path planner or guidance system for offline calculation of trajectories with independent translational and rotational movement. In addition trough fast computation this ...

In this paper we focus on solving a path following problem and keeping a geometrical formation. The problem of formation control is divided into a leader agent subproblem and a follower agent subproblem such that a leader agent follows a given path, while each follower agent tracks a trajectory, estimated by using the leader’s information. In this paper, we exploit nonlinear model predictive co...

We consider the problem of having a group of nonholonomic mobile robots equipped with omnidirectional cameras maintain a desired leader-follower formation. Our approach is to translate the formation control problem from the configuration space into a separate visual servoing task for each follower. We derive the equations of motion of the leader in the image plane of the follower and propose tw...

Line drawing maps are frequently used by people to exchange location information. Mobile robots in the future are expected to be able to communicate with people and thus to localize themselves using such maps. We therefore develop a method of outdoor localization using a stereo camera and a line drawing building map. Omnidirectional range data obtained by a stereo camera and a pan-tilt unit are...

We present our efforts to deploy mobile robots in office environments, focusing in particular on the challenge of planning a schedule for a robot to accomplish user-requested actions. We concretely aim to make our CoBot mobile robots available to execute navigationalbased tasks requested by users, such as telepresence, and picking up and delivering messages or objects at different locations. We...

We present a surveillance system that uses audio and video sensors to reveal and track the presence of an intruder in a off-limit area. The system is composed of a mobile agent and several static agents cooperating in the tracking task. The mobile agent is a vision agent composed of an omnidirectional vision system and a mobile robot. The mobile agents greatly increase the flexibility of the su...