| 1. |
- Di Rocco, Maurizio, et al.
(author)
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Gas source localization in indoor environments using multiple inexpensive robots and stigmergy
- 2011
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In: 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). - : IEEE. - 9781612844558 ; , s. 5007-5014
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Conference paper (peer-reviewed)abstract
- Environmental monitoring is a rather new field in robotics. One of the main appealing tasks is gas mapping, i.e., the characterization of the chemical properties (concentration, dispersion, etc.) of the air within an environment. Current approaches rely on a robot using standard localization and mapping techniques to fuse gas measures with spatial features. These approaches require sophisticated sensors and/or high computational resources. We propose a minimalistic approach, in which one or multiple low-cost robots exploit the ability to store information in the environment, or “stigmergy”, to effectively compute an artificial potential leading toward the likely location of the gas source, as indicated by a highest gas concentration or fluctuation. The potential is computed and stored directly on an array of RFID tags buried under the floor. Our approach has been validated in extensive experiments performed on real robots in a domestic environment.
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| 2. |
- Krug, Robert, 1981-, et al.
(author)
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Prioritized independent contact regions for form closure grasps
- 2011
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In: 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems. - 9781612844558 - 9781612844541 ; , s. 1797-1803
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Conference paper (peer-reviewed)abstract
- The concept of independent contact regions on a target object's surface, in order to compensate for shortcomings in the positioning accuracy of robotic grasping devices, is well known. However, the numbers and distributions of contact points forming such regions is not unique and depends on the underlying computational method. In this work we present a computation scheme allowing to prioritize contact points for inclusion in the independent regions. This enables a user to affect their shape in order to meet the demands of the targeted application. The introduced method utilizes frictionless contact constraints and is able to efficiently approximate the space of disturbances resistible by all grasps comprising contacts within the independent regions.
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| 3. |
- Magnusson, Martin, et al.
(author)
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Consistent pile-shape quantification for autonomous wheel loaders
- 2011
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In: 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems. - : IEEE. - 9781612844558 ; , s. 4078-4083
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Conference paper (peer-reviewed)abstract
- This paper presents a study of approaches for selecting an efficient attack pose when loading piled materials with industrial construction vehicles. Automated handling of piled materials is a highly desired goal in many construction and mining applications. The main contributions of the paper are an experimental study of two novel approaches for selecting an attack pose from 3D data, compared to previously published approaches and extensions thereof. The outcome is based on quantitative validation, both with simulated data and data from a real-world scenario with nontrivial ground geometry.
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| 4. |
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| 5. |
- Sjöö, Kristoffer, 1979-, et al.
(author)
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Learning spatial relations from functional simulation
- 2011
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In: 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011). - 9781612844558 ; , s. 1513-1519
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Conference paper (peer-reviewed)abstract
- Robots acting in complex environments need not only be aware of objects, but also of the relationships objects have with each other. This paper suggests a conceptualization of these relationships in terms of task-relevant functional distinctions, such as support, location control, protection and confinement. Being able to discern such relations in a scene will be important for robots in practical tasks; accordingly, it is demonstrated how predictive models can be trained using data from physics simulations. The resulting models are shown to be both highly predictive and intuitively reasonable.
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| 6. |
- Spampinato, Giacomo, et al.
(author)
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An Embedded Stereo Vision Module for 6D Pose Estimation and Mapping
- 2011
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In: Proceedings of the IEEE international conference on Intelligent Robots and Systems IROS2011. - New York : IEEE Press. - 9781612844558 ; , s. 1626-1631
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Conference paper (peer-reviewed)abstract
- This paper presents an embedded vision system based on reconfigurable hardware (FPGA) and two CMOS cameras to perform stereo image processing and 3D mapping for autonomous navigation. We propose an EKF based visual SLAM and sparse feature detectors to achieve 6D localization of the vehicle in non flat scenarios. The system can operate regardless of the odometry information from the vehicle since visual odometry is used. As a result, the final system is compact and easy to install and configure.
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