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ICRA 2003 International Conference on Robotics and Automation

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ICRA
2003
IEEE

474views Robotics» more ICRA 2003»

Mobile robot navigation using sensor fusion

14 years 6 months ago

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Abstract— This paper considers the localizaton and navigation of a mobile robot. The control strategy is based on a nonlinear model predictive control technique that utilizes the...

Fernando C. Lizarralde, Eduardo V. L. Nunes, Liu H...

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Id	Views	Title	Status

1	474	Mobile robot navigation using sensor fusion	claim
2	272	Calculating possible local displacement of curve objects using improved screw theory	claim
3	231	Online simultaneous localization and mapping with detection and tracking of moving objects: theory and results from a ground vehicle in crowded urban areas	claim
4	225	Post-stabilization for rigid body simulation with contact and constraints	claim
5	222	Path planning using learned constraints and preferences	claim
6	210	A truncated least squares approach to the detection of specular highlights in color images	claim
7	196	Generating whole body motions for a biped humanoid robot from captured human dances	claim
8	187	Mobile robot navigation in dynamic environments using onmidirectional stereo	claim
9	184	Trajectory planning for smooth transition of a biped robot	claim
10	178	Design of six sigma supply chains	claim
11	177	A navigation framework for multiple mobile robots and its application at the Expo.02 exhibition	claim
12	171	Motion planning for multiple mobile robots using dynamic networks	claim
13	169	Identification of the dynamic parameters of the orthoglide	claim
14	169	Robust model-based 3D object recognition by combining feature matching with tracking	claim
15	168	Structure and pose from single images of symmetric objects with applications to robot navigation	claim
16	167	Local exploration: online algorithms and a probabilistic framework	claim
17	166	A service-based network architecture for wearable robots	claim
18	165	Multi-robot task-allocation through vacancy chains	claim
19	164	Mobile robot self-localization based on global visual appearance features	claim
20	163	An experimental study of hybrid switched system approaches to visual servoing	claim
21	163	A real-time robust eye tracking system for autostereoscopic displays using stereo cameras	claim
22	160	Adapting navigation strategies using motions patterns of people	claim
23	159	Randomized manipulation planning for a multi-fingered hand by switching contact modes	claim
24	158	Probabilistic cooperative localization and mapping in practice	claim
25	156	TopBot: automated network topology detection with a mobile robot	claim
26	156	Wet Shape Memory Alloy Actuators for Active Vasculated Robotic Flesh	claim
27	156	Biomimetic sensor suite for flight control of a micromechanical flying insect: design and experimental results	claim
28	155	A Multifunctional Hybrid Hip Joint for Improved Adaptability in Miniature Climbing Robots	claim
29	154	Obstacle avoidance in formation	claim
30	154	Automated multisensor polyhedral model acquisition	claim
31	154	Scalability and schedulability in large, coordinated, distributed robot systems	claim
32	152	3D Modeling of Historic Sites Using Range and Image Data	claim
33	151	Image-based localization with depth-enhanced image map	claim
34	151	Microassembly of 3-D MEMS structures utilizing a MEMS microgripper with a robotic manipulator	claim
35	151	Adaptive real-time particle filters for robot localization	claim
36	150	i-Fork: a flexible AGV system using topological and grid maps	claim
37	150	Studying the Feasibility of Energy Harvesting in a Mobile Sensor Network	claim
38	150	Vision-based fast and reactive monte-carlo localization	claim
39	149	Curvature Based Point Stabilization for Compliant Framed Wheeled Modular Mobile Robots	claim
40	148	Needle insertion and radioactive seed implantation in human tissues: simulation and sensitivity analysis	claim
41	148	A kite and teleoperated vision system for acquiring aerial images	claim
42	148	Designing a secure and robust mobile interacting robot for the long term	claim
43	147	Design and control of a novel 4-DOFs parallel robot H4	claim
44	147	Synthesis of walking primitive databases for biped robots in 3D-environments	claim
45	147	A genetic algorithm for simultaneous localization and mapping	claim
46	147	Modular petri net based modeling, analysis and synthesis of dedicated production systems	claim
47	147	Controlling a marionette with human motion capture data	claim
48	146	An atlas framework for scalable mapping	claim
49	146	Putting the 'I' in 'team': an ego-centric approach to cooperative localization	claim
50	146	Automatic locomotion pattern generation for modular robots	claim
51	146	Dispersion behaviors for a team of multiple miniature robots	claim
52	146	Bundled carbon nanotubes as electronic circuit and sensing elements	claim
53	144	Aerial Posture Control for 3D Biped Running Using Compensator around Yaw Axis	claim
54	144	Error-tolerant execution of complex robot tasks based on skill primitives	claim
55	144	A vision-based haptic exploration	claim
56	143	Cooperative task planning of multi-robot systems with temporal constraints	claim
57	142	Ada -intelligent space: an artificial creature for the swiss Expo.02	claim
58	142	Model identification and attitude control for a micromechanical flying insect including thorax and sensor models	claim
59	142	Airborne simultaneous localisation and map building	claim
60	141	Visual transformations in gesture imitation: what you see is what you do	claim
61	141	Outdoor exploration and SLAM using a compressed filter	claim
62	141	Knot planning from observation	claim
63	141	Control of biomimetic locomotion via averaging theory	claim
64	139	Interactive rendering of deformable objects based on a filling sphere modeling approach	claim
65	139	Mobile robot localization with an incomplete map in non-stationary environments	claim
66	139	Vehicle motion planning using stream functions	claim
67	138	3D-odometry for rough terrain - towards real 3D navigation	claim
68	137	Biped walking pattern generation by using preview control of zero-moment point	claim
69	137	Simulating soft tissue cutting using finite element models	claim
70	137	Cooperative works by a human and a humanoid robot	claim
71	136	Development of a remote minimally-invasive surgical system with operational environment transmission capability	claim
72	135	Visual servoing based on dynamic vision	claim
73	135	Robodaemon -a device independent, network-oriented, modular mobile robot controller	claim
74	135	Overview of Coded Light Projection Techniques for Automatic 3D Profiling	claim
75	135	Affect-sensitive human-robot cooperation-theory and experiments	claim
76	135	Auto-calibration for a parallel manipulator with sensor redundancy	claim
77	134	Development of piezoelectric bending actuators with embedded piezoelectric sensors for micromechanical flapping mechanisms	claim
78	134	Motion planning for a crowd of robots	claim
79	134	A telemanipulation system for psychophysical investigation of haptic interaction	claim
80	133	Mechatronic design of innovative fingers for anthropomorphic robot hands	claim
81	133	Connectivity-through-time protocols for dynamic wireless networks to support mobile robot teams	claim
82	133	Design and simulation of robust composite controllers for flexible joint robots	claim
83	133	A hierarchical behavior-based approach to manipulation tasks	claim
84	133	Conflict-free routing of AGVs on the mesh topology based on a discrete-time model	claim
85	132	Optimal strategies to track and capture a predictable target	claim
86	132	Motion sensing for robot hands using MIDS	claim
87	131	Kinematic Modelling of Wheeled Mobile Manipulators	claim
88	131	Sky/ground modeling for autonomous MAV flight	claim
89	131	Mode shape compensator for improving robustness of manipulator mounted on flexible base	claim
90	130	Direct plane tracking in stereo images for mobile navigation	claim
91	130	Design and modeling of classes of spatial reactionless manipulators	claim
92	130	Design of a redundantly actuated leg mechanism	claim
93	130	Application of moment invariants to visual servoing	claim
94	129	Modeling the kinematics and dynamics of compliant contact	claim
95	129	Self-positioning with an omni-directional stereo system	claim
96	129	Trajectory generation for constant velocity target motion estimation using monocular vision	claim
97	129	Closed loop navigation for multiple non -holonomic vehicles	claim
98	129	Optimal navigation and object finding without geometric maps or localization	claim
99	129	Control of small formations using shape i coordinates	claim
100	128	Improvement of passive elements for wearable haptic displays	claim
101	128	A system for volumetric robotic mapping of abandoned mines	claim
102	128	Avoiding unsafe states in manufacturing systems based on polynomial digraph algorithms	claim
103	127	Constrained initialisation for bearing-only SLAM	claim
104	127	The bridge test for sampling narrow passages with probabilistic roadmap planners	claim
105	127	Behavior-Based Mobile Manipulation Inspired by the Human Example	claim
106	126	Experimental analysis of an innovative prosthetic hand with proprioceptive sensors	claim
107	126	Kalman filter analysis for quantitative comparison of sensory schemes in bilateral teleoperation systems	claim
108	126	Experimental identification and evaluation of performance of a 2DOF haptic display	claim
109	126	Parameters identification and vibration control for modular manipulators	claim
110	126	Results for outdoor-SLAM using sparse extended information filters	claim
111	126	Synthetic gecko foot-hair micro/nano-structures for future wall-climbing robots	claim
112	126	Real-time tracking and pose estimation for industrial objects using geometric features	claim
113	125	Abstraction and control for groups of fully-actuated planar robots	claim
114	125	Online footstep planning for humanoid robots	claim
115	124	Fast and accurate vision-based pattern detection and identification	claim
116	124	Intelligent control of an experimental articulated leg for a galloping machine	claim
117	124	Self-assembly in space via self-reconfigurable robots	claim
118	123	Autonomous reactive control for simulated humanoids	claim
119	123	Cable-suspended planar parallel robots with redundant cables: controllers with positive cable tensions	claim
120	122	Motion planning for humanoid walking in a layered environment	claim
121	122	A novel potential-based path planning of 3-D articulated robots with moving bases	claim
122	122	Complementarity formulation for multi-fingered hand manipulation with rolling and sliding contacts	claim
123	121	Experimental evaluation of the dynamic simulation of biped walking of humanoid robots	claim
124	121	Double spherical joint and backlash clutch for lower limbs of humanoids	claim
125	121	A comparison of Gaussian and mean curvatures estimation methods on triangular meshes	claim
126	121	Optimization of grasping by using a required external force set	claim
127	120	Pushing manipulation by humanoid considering two-kinds of ZMPs	claim
128	120	Extracting optimal paths from roadmaps for motion planning	claim
129	120	Optimal design of parallel manipulators via LMI approach	claim
130	120	Inverse dynamics of gel robots made of electro-active polymer gel	claim
131	120	Instrument deployment for Mars Rovers	claim
132	120	Design and implementation of a behavior-based control and learning architecture for mobile robots	claim
133	119	HPRM: a hierarchical PRM	claim
134	119	Optimal motion planning for free-flying robots	claim
135	119	Incremental low-discrepancy lattice methods for motion planning	claim
136	119	Autonomous feature-based exploration	claim
137	119	Using visual features to build topological maps of indoor environments	claim
138	119	Path-dependent gaze control for obstacle avoidance in vision guided humanoid walking	claim
139	119	The FeTouch project	claim
140	118	Capturing a convex object with three discs	claim
141	118	Remote Book Browsing System Using a Mobile Manipulator	claim
142	117	Map building with mobile robots in dynamic environments	claim
143	116	On the force capability of underactuated fingers	claim
144	116	Remote actuation mechanism for mr-compatible manipulator using leverage and parallelogram - workspace analysis, workspace control, and stiffness evaluation	claim
145	116	The sway compensation trajectory for a biped robot	claim
146	116	Learning to role-switch in multi-robot systems	claim
147	116	Linear time vehicle relocation in SLAM	claim
148	116	Decoupling based Cartesian impedance control of flexible joint robots	claim
149	115	Evolution of the NASA/DARPA robonaut control system	claim
150	115	High resolution catadioptric omni-directional stereo sensor for robot vision	claim
151	115	Microrobotics using composite materials: the micromechanical flying insect thorax	claim
152	114	Heterogeneous implementation of an adaptive robotic sensing team	claim
153	114	Experiments in nonsmooth control of distributed manipulation	claim
154	114	Robotic catching using a direct mapping from visual information to motor command	claim
155	113	Digital passive geometric telemanipulation	claim
156	112	Cartesian impedance control of redundant robots: recent results with the DLR-light-weight-arms	claim
157	112	A Thermally Actuated Polymer Micro Robotic Gripper for Manipulation of Biological Cells	claim
158	112	Using bayesian programming for multi-sensor multi-target tracking in automotive applications	claim
159	112	A Robotic Walker that Provides Guidance	claim
160	111	Multi-robot team response to a multi-robot opponent team	claim
161	111	Learning about objects through action -initial steps towards artificial cognition	claim
162	111	Multi-robot task allocation: analyzing the complexity and optimality of key architectures	claim
163	111	Fuzzy Petri nets for monitoring and recovery	claim
164	110	Modelling of the human paralysed lower limb under FES	claim
165	110	Implementation of multi-rigid-body dynamics within a robotic grasping simulator	claim
166	110	Template based control of hexapedal running	claim
167	109	Learning to optimize mobile robot navigation based on HTN plans	claim
168	109	Narrative situation assessment for human-robot interaction	claim
169	109	Multibody motion estimation and segmentation from multiple central panoramic views	claim
170	108	On-line safe path planning in unknown environments	claim
171	108	PCG: a foothold selection algorithm for spider robot locomotion in 2D tunnels	claim
172	108	Trail-Laying Robots for Robust Terrain Coverage	claim
173	108	Formation control of nonholonomic mobile robots with omnidirectional visual servoing and motion segmentation	claim
174	108	An Extensor Mechanism for an Anatomical Robotic Hand	claim
175	107	Real-time estimation of facial expression intensity	claim
176	107	The haptic scissors: cutting in virtual environments	claim
177	107	A miniature inspection robot negotiating pipes of widely varying diameter	claim
178	106	Motion planning for a three-limbed climbing robot in vertical natural terrain	claim
179	106	An object-oriented controller architecture for flexible parts feeding systems	claim
180	106	Development of a Hot Gas Actuator for Self-Powered Robots	claim
181	106	DLR hand II: hard- and software architecture for information processing	claim
182	106	Singularity analysis of the HALF parallel manipulator with revolute actuators	claim
183	106	Low-cost flight control system for a small autonomous helicopter	claim
184	105	Foveated observation of shape and motion	claim
185	105	Automatic grasp planning using shape primitives	claim
186	105	A computer-aided probing strategy for workpiece localization	claim
187	104	Recognizing surface properties using impedance perception	claim
188	104	Constructing rheologically deformable virtual objects	claim
189	104	Enhancing the reactive capabilities of integrated planning and control with cooperative extended kohonen maps	claim
190	104	An easily reconfigurable robotic assembly system	claim
191	104	Towards a dynamic actuator model for a hexapod robot	claim
192	103	On addressing the run-cost variance in randomized motion planners	claim
193	103	Highly compliant and self-tightening docking modules for precise and fast connection of self-reconfigurable robots	claim
194	103	Automatic detection and response to environmental change	claim
195	103	Simultaneous localization and mapping with unknown data association using fastSLAM	claim
196	102	Two-dimensional signal transmission technology for robotics	claim
197	101	Modeling and control of a monopropellant-based pneumatic actuation system	claim
198	101	Multi-robot human-interation and visitor flow management	claim
199	101	A Branch-and-Prune Algorithm for Solving Systems of Distance Constraints	claim
200	101	Proprioceptive Control for a Robotic Vehicle over Geometric Obstacles	claim
201	100	Quadrotor control using dual camera visual feedback	claim
202	100	New finishing system for metallic molds using a hybrid motion/force control	claim
203	100	Improved analysis of D	claim
204	99	Passivity-based high-fidelity haptic rendering of contact	claim
205	98	Towards a Factored Analysis of Legged Locomotion Models	claim
206	98	Stair descent in the simple hexapod 'RHex'	claim
207	97	The first humanoid robot that has the same size as a human and that can lie down and get up	claim
208	97	Synthesize stylistic human motion from examples	claim
209	97	Wearable-based evaluation of human-robot interactions in robot path-planning	claim
210	96	DLR hand II: experiments and experiences with an anthropomorphic hand	claim
211	96	Probabilistic motion planning for parallel mechanisms	claim
212	96	Marco polo localization	claim
213	95	Exact Collision Detection of Two Moving Ellipsoids under Rational Motions	claim
214	95	Smooth feedback control algorithms for distributed manipulators	claim
215	95	Bilateral time-scaling for control of task freedoms of a constrained nonholonomic system	claim
216	94	The HIT/DLR dexterous hand: work in progress	claim
217	94	Utility and Stability Measures for Agent-Based Dynamic Scheduling of Steel Continuous Casting	claim
218	94	A scalable approach to human-robot interaction	claim
219	94	Enveloping obstacles with hexagonal metamorphic robots	claim
220	93	Design of all-accelerometer inertial measurement unit for tremor sensing in hand-held microsurgical instrument	claim
221	91	Integrated modeling and robust control for full-envelope flight of robotic helicopters	claim
222	91	Visual registration and navigation using planar features	claim
223	91	Spatial motion constraints: theory and demonstrations for robot guidance using virtual fixtures	claim
224	91	Internal posture sensing for a flexible frame modular mobile robot	claim
225	91	Weighted line fitting algorithms for mobile robot map building and efficient data representation	claim
226	90	Vision based shape estimation for continuum robots	claim
227	90	Exploiting redundancy to implement multi-objective behavior	claim
228	88	A new concept of modular parallel mechanism for machining applications	claim
229	88	Iconic memory-based onmidirectional route panorama navigation	claim
230	88	Optimization-based formation reconfiguration planning for autonomous vehicles	claim
231	87	Pattern-based architecture for building mobile robotics remote laboratories	claim
232	87	A new algorithm for three-finger force-closure grasp of polygonal objects	claim
233	87	Traffic monitoring based on real-time image tracking	claim
234	87	A comparative study of geometric algorithms for real-time grasping force optimization	claim
235	82	Micromachined fluid ejector arrays for biotechnological and biomedical applications	claim
236	80	Vision-based localization of an underwater robot in a structured environment	claim
237	69	On the stable passive dynamics of quadrupedal running	claim

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