Whilst many fragmented capabilities in the areas of mobile robot localisation, environmental modelling, path planning and motion control have been reported in the literature, as have also some complete systems which perform adequately in short-term laboratory demonstrations [1], this paper describes the rationale behind and implementation details of a complete and robust autonomous mobile robot...

This paper proposes an adaptive global asymptotic stable (adaptive GAS) control scheme for the compensation of friction and disturbance effect to control robot manipulators. This control method integrates both model reference technique and exact linearization. In addition, it employs disturbance compensating mechanics to control the system to follow a linear reference model which has pole place...

A new approach of using multi-agent and robot systems in terms of transport and logistics in industrial environments is defined. The robot system based on KAMARA principles described in the paper „The Distributed Control Architecture KAMARA“ of this book. A theoretic-based strategy for agent modelling is used to determine the information that is necessary for collision avoidance in the two-arm ...

This paper provides a brief survey of the metrics for measuring probability, degree, and severity of collisions as applied to autonomous and intelligent systems. Though not exhaustive, this survey evaluates the state-of-the-art of collision metrics, and assesses which are likely to aid in the establishment and support of autonomous system collision modelling. The survey includes metrics for 1) ...

Grounded language acquisition is an important issue, particularly to facilitate human-robot interactions in an intelligent and effective way. The evolutionary and developmental language acquisition are two innovative and important methodologies for the grounding of language in cognitive agents or robots, the aim of which is to address current limitations in robot design. This paper concentrates...

This paper presents an overview of the current field of entertainment robotics based on experiences as spectator during the RoboCup 1999 and building an experimental entertainment robot based on the LEGO platform with digital color camera and various other sensors. RoboCat is a robot cat prototype that shows cat-like behaviour in the real-life environment of typical households. For behavioural ...

The paper deals with the problem of verifying behaviour-based control systems. Although failures in sensor hardware and software can have strong influences on the robot’s operation, they are often neglected in the verification process. Instead, perfect sensing is assumed. Therefore, this paper provides an approach for modelling the sensor chain in a formal way and connecting it to the formal mo...

The goal behind this paper is to find a generic method for controlling the motion of a robot relative to an object of an arbitrary shape. In this paper we study; 9 modelling laser range measurements for different type of objectslsurface properties. Outdoor scenes are emphasized. testing the distance transform on measurements for estimating the motion of a robot relative to an object of arbitmy ...

The growing research area of physical Human–Robot Interaction (pHRI) claims for safe robot control algorithms in the presence of humans. Managing kinematic redundancy via fast techniques is also mandatory for interaction tasks with humans. It is worth noticing that control points on a manipulator can change, e.g., depending on possible multiple collisions (intentional or accidental) with the in...

In recent years, the research of planetary exploration robots has become an active field. The jumping robot a hot spot in this This paper presents work modelling and simulating three-legged robot, which powerful force, high leaping performance, good flexibility. particular, was simulated landing buffer analyzed. Because lacks buffer, verifies method absorbing kinetic energy to improve stability...