IROS 2007 - PDF Preprint Papers

IROS 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

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IROS
2007
IEEE

411views Robotics» more IROS 2007»

Experimental kinematics for wheeled skid-steer mobile robots

14 years 5 months ago

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— This work aims at improving real-time motion control and dead-reckoning of wheeled skid-steer vehicles by considering the effects of slippage, but without introducing the compl...

Anthony Mandow, Jorge L. Martínez, Jes&uacu...

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Id	Views	Title	Status

1	411	Experimental kinematics for wheeled skid-steer mobile robots	claim
2	309	3D relative pose estimation from distance-only measurements	claim
3	266	Incremental multi-robot task selection for resource constrained and interrelated tasks	claim
4	254	3D datasets segmentation based on local attribute variation	claim
5	250	Multi-cue 3D object recognition in knowledge-based vision-guided humanoid robot system	claim
6	240	Biologically-inspired robotics vision monte-carlo localization in the outdoor environment	claim
7	212	GPU-accelerated real-time 3D tracking for humanoid locomotion and stair climbing	claim
8	210	Extrinsic self calibration of a camera and a 3D laser range finder from natural scenes	claim
9	206	Dexterous manipulation planning using probabilistic roadmaps in continuous grasp subspaces	claim
10	205	Kinematic and dynamic control of a wheeled mobile robot	claim
11	204	Robot painter: from object to trajectory	claim
12	204	Over-the-horizon, autonomous navigation for planetary exploration	claim
13	201	Attitude stabilization in hover flight of a mini tail-sitter UAV with variable pitch propeller	claim
14	198	Cooperation of heterogeneous, autonomous robots: A case study of humanoid and wheeled robots	claim
15	198	Topological mapping, localization and navigation using image collections	claim
16	197	Generic and systematic evaluation of haptic interfaces based on testbeds	claim
17	196	Self-healing for mobile robot networks with motion synchronization	claim
18	193	Temporal segmentation and recognition of body motion data based on inter-limb correlation analysis	claim
19	193	Data acquisition and view planning for 3-D modeling tasks	claim
20	193	Analyzing gaussian proposal distributions for mapping with rao-blackwellized particle filters	claim
21	189	Differential evolution approach to the grid-based localization and mapping problem	claim
22	189	Person following with a mobile robot using binocular feature-based tracking	claim
23	188	Behavior maps for online planning of obstacle negotiation and climbing on rough terrain	claim
24	186	3D forward sensor modeling and application to occupancy grid based sensor fusion	claim
25	184	Integration of emotional reactions on human facial expressions into the robot head MEXI	claim
26	180	Detection of thrown objects in indoor and outdoor scenes	claim
27	179	Incremental learning for place recognition in dynamic environments	claim
28	179	Stereo-based 6D object localization for grasping with humanoid robot systems	claim
29	179	A comparative study of conventional visual servoing schemes in microsystem applications	claim
30	176	Controlling a team of ground robots via an aerial robot	claim
31	176	Handling uncertainty in semantic-knowledge based execution monitoring	claim
32	175	Adaptive long range vision in unstructured terrain	claim
33	175	Simulation and weights of multiple cues for robust object recognition	claim
34	172	Motor control optimization of compliant one-legged locomotion in rough terrain	claim
35	171	Learning full-body motions from monocular vision: dynamic imitation in a humanoid robot	claim
36	171	A Kalman filter for robust outlier detection	claim
37	171	VIsion force control in task-oriented grasping and manipulation	claim
38	169	A lightweight SLAM algorithm using Orthogonal planes for indoor mobile robotics	claim
39	168	Improving humanoid locomotive performance with learnt approximated dynamics via Gaussian processes for regression	claim
40	168	Collision detection in legged locomotion using supervised learning	claim
41	167	Path following control for tracked vehicles based on slip-compensating odometry	claim
42	166	Visual path following using only monocular vision for urban environments	claim
43	165	A bayesian conceptualization of space for mobile robots	claim
44	164	Emulation and behavior understanding through shared values	claim
45	164	Analysis of indeterminate contact forces in robotic grasping and contact tasks	claim
46	162	Comparative evaluation of robotic software integration systems: A case study	claim
47	162	Genetic MRF model optimization for real-time victim detection in search and rescue	claim
48	162	Online object search with a humanoid robot	claim
49	162	Where is your dive buddy: tracking humans underwater using spatio-temporal features	claim
50	161	An active motion compensation instrument for beating heart mitral valve surgery	claim
51	160	Outdoor visual path following experiments	claim
52	160	Design, fabrication, and analysis of a 3DOF, 3cm flapping-wing MAV	claim
53	160	Task constrained motion planning in robot joint space	claim
54	159	Transfer of policies based on trajectory libraries	claim
55	159	Approximate covariance estimation in graphical approaches to SLAM	claim
56	158	Factor-guided motion planning for a robot arm	claim
57	158	Feature selection in conditional random fields for activity recognition	claim
58	157	A learning framework for generic sensory-motor maps	claim
59	157	Improving MAV pose estimation using visual information	claim
60	157	View-adaptive manipulative action recognition for robot companions	claim
61	157	Autonomous blimp control using model-free reinforcement learning in a continuous state and action space	claim
62	157	Combining motion from texture and lines for visual navigation	claim
63	157	A spatio-temporal probabilistic model for multi-sensor object recognition	claim
64	157	Coordination of multiple vehicles for area coverage tasks	claim
65	156	Learning maps in 3D using attitude and noisy vision sensors	claim
66	156	A 1-DOF assistive exoskeleton with virtual negative damping: effects on the kinematic response of the lower limbs	claim
67	154	Ground truth evaluation of large urban 6D SLAM	claim
68	154	Robust stereo tracking for space applications	claim
69	154	A Kalman filter-based algorithm for IMU-camera calibration	claim
70	154	3, 000-fps 3-D shape measurement using a high-speed camera-projector system	claim
71	152	Electric field imaging pretouch for robotic graspers	claim
72	152	Kinodynamic motion planning on roadmaps in dynamic environments	claim
73	152	Integral control of humanoid balance	claim
74	152	Characterizing optimally fault-tolerant manipulators based on relative manipulability indices	claim
75	151	Stabilizing biped walking on rough terrain based on the compliance control	claim
76	150	Monopedal running control: SLIP embedding and virtual constraint controllers	claim
77	150	Long-Term learning using multiple models for outdoor autonomous robot navigation	claim
78	150	A scaled bilateral control system for experimental 1-D teleoperated nanomanipulation applications	claim
79	149	Kernel-based visual servoing	claim
80	149	A decentralized planner that guarantees the safety of communicating vehicles with complex dynamics that replan online	claim
81	148	Kinematic analysis and control of an omnidirectional mobile robot in rough terrain	claim
82	148	Trajectory recovery and 3D mapping from rotation-compensated imagery for an airship	claim
83	148	Tractable probabilistic models for intention recognition based on expert knowledge	claim
84	147	Autonomous learning of 3D reaching in a humanoid robot	claim
85	147	Compact magnetic wheeled robot with high mobility for inspecting complex shaped pipe structures	claim
86	147	Uncalibrated video compass for mobile robots from paracatadioptric line images	claim
87	146	Capturing robot workspace structure: representing robot capabilities	claim
88	145	A quantitative method for comparing trajectories of mobile robots using point distribution models	claim
89	144	Faster and more accurate face detection on mobile robots using geometric constraints	claim
90	144	High precision PSD guided robot localization: Design, mapping, and position control	claim
91	144	Using reinforcement learning to adapt an imitation task	claim
92	144	Global action selection for illumination invariant color modeling	claim
93	144	Bipedal walking on rough terrain using manifold control	claim
94	143	Target tracking control with limited communication and steering dynamics	claim
95	143	Metrics for quantifying system performance in intelligent, fault-tolerant multi-robot teams	claim
96	143	A framework for planning motion in environments with moving obstacles	claim
97	142	GPS moving performance on open sky and forested paths	claim
98	142	Decentralized SLAM for pedestrians without direct communication	claim
99	142	Controlling walking behavior of passive dynamic walker utilizing passive joint compliance	claim
100	141	LIVS: Local Interaction via Virtual Stigmergy coordination in distributed search and collective cleanup	claim
101	141	Laser tracking of human body motion using adaptive shape modeling	claim
102	140	IMU-based localization and slip estimation for skid-steered mobile robots	claim
103	140	Test-environment based on a team of miniature walking robots for evaluation of collaborative control methods	claim
104	139	Geometric motion estimation and control for robotic-assisted beating-heart surgery	claim
105	138	Moth plume-tracing derived algorithm for identifying chemical source in near-shore ocean environments	claim
106	138	Obstacle detection from IPM and super-homography	claim
107	138	On-demand sharing of a high-resolution panorama video from networked robotic cameras	claim
108	138	Tracking control for snake robot joints	claim
109	138	Contextual visual localization: cascaded submap classification, optimized saliency detection, and fast view matching	claim
110	138	Task evaluations of a compact laparoscopic surgical robot system	claim
111	138	Gramian-based optimal design of a dynamic stroke amplifier compliant micro-mechanism	claim
112	137	Part based people detection using 2D range data and images	claim
113	137	Energy-based 6-DOF penetration depth computation for penalty-based haptic rendering algorithms	claim
114	136	Affordance-based imitation learning in robots	claim
115	136	Obstacle detection during day and night conditions using stereo vision	claim
116	136	Task-induced symmetry and reduction in kinematic systems with application to needle steering	claim
117	136	A bounded uncertainty approach to cooperative localization using relative bearing constraints	claim
118	136	Using case-based reasoning for autonomous vehicle guidance	claim
119	135	Task space control with prioritization for balance and locomotion	claim
120	135	Dynamic identification of a mitsubishi pa10-6ce robot using motion capture	claim
121	135	Self-organization of environmentally-adaptive shapes on a modular robot	claim
122	135	Power-SLAM: A linear-complexity, consistent algorithm for SLAM	claim
123	134	Design and control of a new active cardiac stabilizer	claim
124	134	From path to trajectory deformation	claim
125	134	Feature selection for grasp recognition from optical markers	claim
126	132	In-vivo pan/tilt endoscope with integrated light source	claim
127	132	Handling shape and contact location uncertainty in grasping two-dimensional planar objects	claim
128	132	Hysteretic q-learning : an algorithm for decentralized reinforcement learning in cooperative multi-agent teams	claim
129	131	Design and evaluation of a gravity compensation mechanism for a humanoid robot	claim
130	131	Influence of sensor quantization on the control performance of robotics actuators	claim
131	131	A hybrid approach for complete motion planning	claim
132	131	Natural deictic communication with humanoid robots	claim
133	129	Decomposition of line segments into corner and statistical grown line features in an EKF-SLAM framework	claim
134	129	Representability of human motions by factorial hidden Markov models	claim
135	129	Global stabilization of a four rotor helicopter with bounded inputs	claim
136	129	Experience-based and tactile-driven dynamic grasp control	claim
137	128	Omnidirectional visual-servo of a Gough-Stewart platform	claim
138	128	The autonomous city explorer project: aims and system overview	claim
139	128	Exploiting similarities for robot perception	claim
140	128	EMG-based teleoperation of a robot arm using low-dimensional representation	claim
141	128	A scalable distributed algorithm for shape transformation in multi-robot systems	claim
142	128	A modular robotic system using magnetic force effectors	claim
143	128	Dynamometer power output measurements of piezoelectric actuators	claim
144	127	A generic fisheye camera model for robotic applications	claim
145	127	Dynamic redistribution of a swarm of robots among multiple sites	claim
146	127	Goal directed navigation with uncertainty in adversary locations	claim
147	126	Development of a contact interaction-based navigation strategy for a biped humanoid robot	claim
148	126	Biped gait generation based on parametric excitation by knee-joint actuation	claim
149	126	A graph theoretic approach to optimal target tracking for mobile robot teams	claim
150	126	Passive and accurate torque control of series elastic actuators	claim
151	126	Control-driven mapping and planning	claim
152	125	An optimal planning of falling motions of a humanoid robot	claim
153	125	Probabilistic inference for structured planning in robotics	claim
154	125	Improved prediction of heart motion using an adaptive filter for robot assisted beating heart surgery	claim
155	125	Hybrid localization using the hierarchical atlas	claim
156	124	Vocal imitation using physical vocal tract model	claim
157	124	Design of an automated transportation system in a seaport container terminal for the reliability of operating robots	claim
158	124	Temporal scaling of upper body motion for Sound feedback system of a dancing humanoid robot	claim
159	124	Broadband variations of the MUSIC high-resolution method for Sound Source Localization in Robotics	claim
160	123	Natural task decomposition with intrinsic potential fields	claim
161	123	The effect of joint elasticity on bilateral teleoperation	claim
162	123	Potential negative obstacle detection by occlusion labeling	claim
163	123	An extended policy gradient algorithm for robot task learning	claim
164	123	Learning humanoid reaching tasks in dynamic environments	claim
165	123	Reinforcement learning in multi-dimensional state-action space using random rectangular coarse coding and Gibbs sampling	claim
166	123	Visual servoing of an airplane for auto-landing	claim
167	122	Lagrangian dynamics of open multibody systems with generalized holonomic and nonholonomic joints	claim
168	122	Confidence-based cue integration for visual place recognition	claim
169	122	Design and experimental evaluation of rotor speed regulators for model helicopters in a test bench	claim
170	122	Towards a novel safety norm for domestic robotics	claim
171	122	Design of a new spatial 3-DOF parallel mechanism with application to a PDP TV mounting device	claim
172	121	Reactive deformation roadmaps: motion planning of multiple robots in dynamic environments	claim
173	121	"Talk to me!": enabling communication between robotic architectures and their implementing infrastructures	claim
174	121	Quadrupedal running at high speed over uneven terrain	claim
175	121	Re-usable kinematic models and algorithms for manipulators and vehicles	claim
176	120	Speech and action: integration of action and language for mobile robots	claim
177	120	Differentiable and piecewise differentiable gaits for snake robots	claim
178	119	Dimensionality reduction for hand-independent dexterous robotic grasping	claim
179	119	Scalable SLAM building conditionally independent local maps	claim
180	119	Scale invariant feature matching with wide angle images	claim
181	119	Self-localization of a heterogeneous multi-robot team in constrained 3D space	claim
182	118	Lower body realization of the baby humanoid - 'iCub'	claim
183	117	Fast 3D pose estimation with out-of-sequence measurements	claim
184	116	Optimal distributed planning of multi-robot placement on a 3D truss	claim
185	116	Hand placement during quadruped locomotion in a humanoid robot: A dynamical system approach	claim
186	116	A multipurpose robotic wheelchair and rehabilitation device for the home	claim
187	116	A two-phased object orientation controller on soft finger operations	claim
188	116	Seamless integration of robots and tiny embedded devices in a PEIS-Ecology	claim
189	115	Spatial reasoning for human robot interaction	claim
190	115	Angle control of a loosely coupled mechanism in 3D space using length sensors	claim
191	114	Design and control of a second-generation hyper-redundant mechanism	claim
192	114	Randomized statistical path planning	claim
193	114	Synergistic 3D limit cycle walking of an anthropomorphic biped robot	claim
194	113	Collective construction of environmentally-adaptive structures	claim
195	113	Modeling and motion planning for handling furniture by a mobile manipulator	claim
196	113	Valet parking without a valet	claim
197	112	Orchestrating concurrency in robot swarms	claim
198	112	Design of a spring backbone micro endoscope	claim
199	112	Efficient path planning in changing environments	claim
200	112	From structured english to robot motion	claim
201	111	Design of a modular snake robot	claim
202	111	Performance benefits of self-assembly in a swarm-bot	claim
203	110	From primitive behaviors to goal-directed behavior using affordances	claim
204	110	Stability of discrete-time bilateral teleoperation control	claim
205	110	Local path planning in image space for autonomous robot navigation in unstructured environments	claim
206	110	Multi-agent search with interim positive information	claim
207	109	Basic studies on wet adhesion system for wall climbing robots	claim
208	109	Origami folding by a robotic hand	claim
209	109	Planning for robust execution of humanoid motions using future perceptive capability	claim
210	109	Fast vision-based minimum distance determination between known and unkown objects	claim
211	109	A new approach to segmentation of 2D range scans into linear regions	claim
212	108	Discovery of other individuals by projecting a self-model through imitation	claim
213	108	Hiding the acoustic signature of a mobile robot	claim
214	107	Visibility in motion	claim
215	107	Scheduling for humans in multirobot supervisory control	claim
216	106	Context identification for efficient multiple-model state estimation	claim
217	106	A forward model of optic flow for detecting external forces	claim
218	105	A Software component for simultaneous plan execution and adaptation	claim
219	105	Dynamics of step-climbing with deformable wheels and applications for mobile Robotics	claim
220	105	Experiments in robotic boat localization	claim
221	104	Cascaded position and heading control of a robotic helicopter	claim
222	104	Energy-field reconstruction for haptic-based molecular docking using energy minimization processes	claim
223	103	Grasp-stability analysis of a two-phalanx isotropic underactuated finger	claim
224	102	Platform portable anthropomorphic grasping with the bielefeld 20-DOF shadow and 9-DOF TUM hand	claim
225	101	PSO-Tuned F2 method for multi-robot navigation	claim
226	101	Optimizing image and camera trajectories in robot vision control using on-line boosting	claim
227	101	Automatic robot programming from learned abstract task knowledge	claim
228	100	Roughness feeling telepresence system on the basis of real-time estimation of surface wavelengths	claim
229	100	Humanoid robot noise suppression by particle filters for improved automatic speech recognition accuracy	claim
230	100	Incremental behavior acquisition based on reliability of observed behavior recognition	claim
231	100	Towards a mobile haptic interface for bimanual manipulations	claim
232	99	Multi-robot routing with rewards and disjoint time windows	claim
233	99	Robot coverage of terrain with non-uniform traversability	claim
234	99	New dynamic models for planar extensible continuum robot manipulators	claim
235	98	Discrete trajectory control algorithms for NIMS3D, an autonomous underconstrained three-dimensional cabled robot	claim
236	97	High lift force with 275 Hz wing beat in MFI	claim
237	97	Meld: A declarative approach to programming ensembles	claim
238	97	Underwater SLAM in a marina environment	claim
239	96	Towards robotic self-reassembly after explosion	claim
240	95	Modeling affordances using Bayesian networks	claim
241	95	Load estimation and control using learned dynamics models	claim
242	94	Two-way translation of compound sentences and arm motions by recurrent neural networks	claim
243	94	Respectful cameras: detecting visual markers in real-time to address privacy concerns	claim
244	93	Interacting with a human or a humanoid robot?	claim
245	93	Experimental validation of a decentralized control law for multi-vehicle collective motion	claim
246	93	Optimal scheduling of biochemical analyses on digital microfluidic systems	claim
247	93	Computational sensor networks	claim
248	92	Learning-enhanced market-based task allocation for oversubscribed domains	claim
249	92	A space decomposition method for path planning of loop linkages	claim
250	91	A dynamic single actuator vertical climbing robot	claim
251	90	Improved likelihood models for probabilistic localization based on range scans	claim
252	89	Hierarchical implicit feedback structure in passive dynamic walking	claim
253	88	A method to characterize and exploit actuation redundancy in mobility and manipulation	claim
254	87	Vision-based loop closing for delayed state robot mapping	claim
255	85	Probabilistic map building considering sensor visibility for mobile robot	claim
256	85	Electrostatic latching for inter-module adhesion, power transfer, and communication in modular robots	claim
257	84	Robotic harness for the field assessment of galloping gaits	claim

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