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In this paper, we describe a complete system for mission planning and execution for multiple robots in natural terrain. We report on experiments with a system for autonomously driving two vehicles based on complex mission specifications. We show that the system is able to plan local paths in...
Motion control of vehicles under uncertain, noisy, and discontinuous positioning is essential in autonomous navigation in unknown environments. This article suggests two methods for motion control, where the initial parameters of the on-line control are physically explainable, the resulting...
Designing a mobile robotic toy is challenging work. The robot must be appealing to children and create interesting interactions while facing the wide variety of situations that can be experienced while playing with a child, and all at a reasonable cost. In this paper we present Roball, a...
To realize dynamically stable walking for a quadruped walking robot, the combination of the trajectory planning of the body and leg position (feedforward control) and the adaptive control using sensory information (feedback control) is indispensable. In this paper, we propose a new body...
We describe techniques to optimally select landmarks for performing mobile robot localization by matching terrain maps. The method is based upon a maximum-likelihood robot localization algorithm that efficiently searches the space of possible robot positions. We use a sensor error model to...
Legged machines designed to walk on flat or irregular terrain do not need to possess great foot positioning accuracy in order to perform stable motion. However, the propulsion of the body—which normally follows a straight line—, requires feet to follow perfect straight lines—in the body's...
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