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In this paper, we show how linguistic expressions can be generated to describe the spatial relations between a mobile robot and its environment, using readings from a ring of sonar sensors. Our work is motivated by the study of human-robot communication for novice robot users. The ultimate goal...
This paper addresses the problem of designing high precision bottom followers for remotely operated vehicles. In the framework of hierarchical control architectures able to uncouple the robot's kinematics (guidance) and dynamics (velocity control), the task of bottom-following is accomplished by...
This paper presents a global navigation strategy for autonomous mobile robots in large-scale uncertain environments. The aim of this approach is to minimize collision risk and time delays by adapting to the changes in a dynamic environment. The issue of obstacle avoidance is addressed on the...
In this paper we make a comparative study of some successful software architectures for mobile robot systems. The objective is to gather experience for the future design of a new robot architecture. Three architectures are studied more closely, Saphira, TeamBots and BERRA. Qualities such as...
Future robotic vehicles will perform challenging tasks in rough terrain, such as planetary exploration and military missions. Rovers with actively articulated suspensions can improve rough-terrain mobility by repositioning their center of mass. This paper presents a method to control actively...
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