ICRA
2007
IEEE
13 years 11 months ago
2007
IEEE
— A central problem in robotics is planning a collision-free path for a moving object in an environment with obstacles. Contemporary applications require a path planner that is f...
ICRA
2007
IEEE
2007
IEEE
Hybrid Model Predictive Control for Stabilization of Wheeled Mobile Robots Subject to Wheel Slippage
13 years 11 months ago
— This paper studies the problem of stabilizing wheeled mobile robots (WMRs) subject to wheel slippage to a predefined set. When slippage of the wheels can occur, WMRs can be mo...
ICRA
2007
IEEE
13 years 11 months ago
2007
IEEE
ICRA
2007
IEEE
13 years 11 months ago
2007
IEEE
— This paper reports the analytical development and preliminary experimental evaluation of a class of exact nonlinear full state model-based observers for underwater vehicle navi...
ICRA
2007
IEEE
13 years 11 months ago
2007
IEEE
— In this paper, we present an Extended Kalman Filter (EKF)-based algorithm for real-time vision-aided inertial navigation. The primary contribution of this work is the derivatio...
ICRA
2007
IEEE
13 years 11 months ago
2007
IEEE
— Portable, modular and extensible software allows robotics researchers to pool their resources by sharing algorithms, thus advancing research in the field of robotics at a fast...
ICRA
2007
IEEE
13 years 11 months ago
2007
IEEE
Abstract— In this paper, simultaneous localisation and mapping (SLAM) is combined with landmark recognition to close large loops in unstructured, outdoor environments. Camera and...
ICRA
2007
IEEE
13 years 11 months ago
2007
IEEE
— For certain applications, field robotic systems require small size for cost, weight, access, stealth or other reasons. Small size results in constraints on critical resources s...
ICRA
2007
IEEE
13 years 11 months ago
2007
IEEE
— This paper introduces a model-based approach to estimating longitudinal wheel slip and detecting immobilized conditions of autonomous mobile robots operating on outdoor terrain...
ICRA
2007
IEEE
13 years 11 months ago
2007
IEEE
—The CCD camera and the 2D laser range finder are widely used for motion estimation and 3D reconstruction. With their own strengths and weaknesses, low-level fusion of these two ...