Area measurement of large closed regions with a mobile robot

Date

2006-11-01

Author

Şahin, Erol
Ugur, Emre

Metadata

Show full item record

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Item Usage Stats

197
views

0
downloads

How can a mobile robot measure the area of a closed region that is beyond its immediate sensing range? This problem, which we name as blind area measurement, is inspired from scout worker ants who assess potential nest cavities. We first review the insect studies that have shown that these scouts, who work in dark, seem to assess arbitrary closed spaces and reliably reject nest sites that are small for the colony. We briefly describe the hypothesis that these scouts use "Buffon's needle method" to measure the area of the nest. Then we evaluate and analyze this method for mobile robots to measure large closed regions. We use a simulated mobile robot system to evaluate the performance of the method through systematic experiments. The results showed that the method can reliably measure the area of large and rather open, closed regions regardless of their shape and compactness. Moreover, the method's performance seems to be undisturbed by the existence of objects and by partial barriers placed inside these regions. Finally, at a smaller scale, we partially verified some of these results on a real mobile robot platform.

Subject Keywords

Artificial Intelligence

URI

https://hdl.handle.net/11511/40230

Journal

AUTONOMOUS ROBOTS

DOI

https://doi.org/10.1007/s10514-006-9719-7

Collections

Department of Computer Engineering, Article

Suggestions

OpenMETU
Core

Formation preserving path finding in 3-D terrains Bayrak, Ali Galip; Polat, Faruk (Springer Science and Business Media LLC, 2012-03-01) Navigation of a group of autonomous agents that are required to maintain a formation is a challenging task which has not been studied much especially in 3-D terrains. This paper presents a novel approach to collision free path finding of multiple agents preserving a predefined formation in 3-D terrains. The proposed method could be used in many areas like navigation of semi-automated forces (SAF) at unit level in military simulations and non-player characters (NPC) in computer games. The proposed path findi...
CNNFOIL: convolutional encoder decoder modeling for pressure fields around airfoils Duru, Cihat; Alemdar, Hande; Baran, Özgür Uğraş (Springer Science and Business Media LLC, 2020-01-01) In this study, we propose an encoder–decoder convolutional neural network-based approach for estimating the pressure field around an airfoil. The developed tool is one of the early steps of a machine-learning-based aerodynamic performance prediction tool. Network training and evaluation are performed from a set of computational fluid dynamics (CFD)-based solutions of the 2-D flow field around a group of known airfoils involving symmetrical, cambered, thick and thin airfoils. Reynolds averaged Navier Stokes-...
RTTES: Real-time search in dynamic environments Undeger, Cagatay; Polat, Faruk (Springer Science and Business Media LLC, 2007-10-01) In this paper we propose a real-time search algorithm called Real-Time Target Evaluation Search (RTTES) for the problem of searching a route in grid worlds from a starting point to a static or dynamic target point in real-time. The algorithm makes use of a new effective heuristic method which utilizes environmental information to successfully find solution paths to the target in dynamic and partially observable environments. The method requires analysis of nearby obstacles to determine closed directions and...
AI for dynamic packet size optimization of batteryless IoT nodes: a case study for wireless body area sensor networks Tabrizi, Hamed Osouli; Al-Turjman, Fadi (Springer Science and Business Media LLC, 2020-10-01) Packet size optimization, with the purpose of minimizing the wireless packet transmission energy consumption, is crucial for the energy efficiency of the Internet of Things nodes. Meanwhile, energy scavenging from ambient energy sources has gained a significant attraction to avoid battery issues as the number of nodes increasingly grows. Packet size optimization algorithms have so far been proposed for battery-powered networks that have limited total energy with continuous power availability to prolong thei...
Spatial synthesis by disjunctive constraint satisfaction Baykan, CA; Fox, MS (Cambridge University Press (CUP), 1997-09-01) The spatial synthesis problem addressed in this paper is the configuration of rectangles in 2D space, where the sides of the rectangles are parallel to an orthogonal coordinate system. Variables are the locations of the edges of the rectangles and their orientations. Algebraic constraints on these variables define a layout and constitute a constraint satisfaction problem. We give a new O(n(2)) algorithm for incremental path-consistency, which is applied after adding each algebraic constraint. Problem requir...

Citation Formats

E. Şahin and E. Ugur, “Area measurement of large closed regions with a mobile robot,” AUTONOMOUS ROBOTS, pp. 255–266, 2006, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/40230.