Perception-based navigation for mobile robots

Date

2002-03-01

Author

Kawamura, K
Wilkes, DM
Koku, Ahmet Buğra
Keskinpala, T

Metadata

Show full item record

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

Item Usage Stats

181
views

0
downloads

Ongoing research on multi-robot collaborative navigation conducted in the Intelligent Robotics Lab at Vanderbilt University is introduced. Range-free egocentric representations for navigation have been previously developed for a single robot. We refer to this method as perception-based navigation (PBN). This paper will show that the concept of PBN can be extended from a single robot to a group of robots to achieve collaborative navigation. One robot attempts to reach a target region by sharing its sensory information with the knowledge of another. PBN approach separates sensing and navigation from planning. Our assumption is that one robot is lost or new in an environment, which is known to another robot. The new robot asks for assistance by presenting its egocentric world perceptions. We show the PBN idea is expandable to handle collaborative efforts to achieve a goal.

Subject Keywords

Navigation, Perception, Sensory egosphere, Landmark egosphere

URI

https://hdl.handle.net/11511/53805

Collections

Department of Mechanical Engineering, Conference / Seminar

Suggestions

OpenMETU
Core

Automated classification of remote sensing images using multileveled MobileNetV2 and DWT techniques Karadal, Can Haktan; Kaya, Muhammed Çağrı; Tuncer, Turker; Dogan, Sengul; Acharya, U. Rajendra (2021-12-15) Automated classification of remote sensing images is one of the complex issues in robotics and machine learning fields. Many models have been proposed for remote sensing image classification (RSIC) to obtain high classification performance. The objective of this study are twofold. First, to create a new space object image collection as such a dataset is not currently available. Second, propose a novel RSIC model to yield highest classification performance using our newly created dataset. Our presented autom...
Investigating the perceptions of university students and faculty about virtual physics and chemistry laboratory activities Güler, Hilal; Delialioğlu, Ömer; Department of Computer Education and Instructional Technology (2022-2) This study aims to investigate the perceptions of university students and faculty about virtual chemistry and physics laboratory activities. The study was carried out in the 2020-2021 academic year with students and faculty members who were registered to general chemistry and general physics courses in 18 different universities in different parts of Turkey. Participants of the study attended virtual laboratory activities on weekly basis as a mandatory part of their courses during the fall and spring semeste...
Interacting fuzzy multimodel intelligent tracking system for swift target manoeuvres Gokkus, L; Erkmen, Aydan Müşerref; Tekinalp, Ozan (1997-09-11) This paper focuses on the generation of an intelligent tracker module equipped with a wavelet based neural network that learns predictions from past experience. The perception of actual tar et manoeuvre and prediction of its future states are achieved in this work by "projecting" actual observations into decision spaces of local fuzzy predictions based on independent prototypical trajectory types: linear, parabolic and square root type trajectory. Decentralized tracking decisions are thus generated which ar...
e-Kampus-IS: Information system for a virtual university consortium Onay, Pinar; Yalabik, Neşe; Köksal, Gülser (2005-12-01) In this study, an information system for a virtual university consortium is designed. This consortium is assumed to be formed by a large number of educational institutions from diverse geographical regions as well as some private companies specialized on e-learning. A hybrid learning approach according to which students will spend part of their time in the nearest campus is planned. The organizational, technical and educational models of the system are proposed. A centralized structure with tight connection...
Configurable robot base design for mixed terrain applications Bayar, Gökhan; Koku, Ahmet Buğra; Department of Mechanical Engineering (2005) Mobile robotics has become a rapidly developing field of interdisciplinary research within robotics. This promising field has attracted the attention of academicy, industry, several government agencies. Currently from security to personal service mobile robots are being used in a variety of tasks. The use of such robots is expected to only increase in the near future. In this study, it is aimed to design and manufacture a versatile robot base. This base is aimed to be the main driving unit for various appli...

Citation Formats

K. Kawamura, D. Wilkes, A. B. Koku, and T. Keskinpala, “Perception-based navigation for mobile robots,” 2002, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/53805.