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White, Cory; Hiranandani, Daniel; Olstad, Christopher S.; Buhagiar, Keith; Gambin, Timmy; Clark, Christopher M.

doi:10.1002/rob.v27:4

Cited by 13 publications

(1 citation statement)

References 183 publications

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“…The problem of the communications loss is mentioned but no solutions are proposed. White et al (2010) presented an underwater robot for archaeological teleoperated exploration in cisterns. The work focused mainly on simultaneous localization and mapping (SLAM) problems for mapping the cisterns whilst communication issues were not considered.…”

Section: Introductionmentioning

confidence: 99%

Signal-based deployment planning for robot teams in tunnel-like fading environments

Rizzo

Tardioli

Sicignano

et al. 2013

The International Journal of Robotics Research

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Deploying a multi-robot team in confined environments poses multiple challenges that involve task and motion planning, localization and mapping, safe navigation, coordination of robots and also communications among all of them. In recent years, increasing attention has been paid to these challenges by the robotics community, but many problems remain unresolved. In this paper we address a technique for planning the deployment of a robot team in so-called fading environments, such as tunnels or galleries, where signal propagation presents specific characteristics. In order to maintain constant connectivity and high signal quality in the communication network formed by the robots and the base station, the robot deployment is driven by real-time signal measurements. First, an analysis of the signal propagation to obtain the general characteristic parameters of the signals in this kind of environment is carried out. Second, a technique which uses these parameters to drive the deployment is developed. A general strategy for this kind of environment in which the signals exhibit similar behavior is implemented. A complete system involving all of the above-mentioned robotics tasks has been developed. Finally, the system has been evaluated by means of simulation and in a real scenario.

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Section: Introductionmentioning

confidence: 99%

Signal-based deployment planning for robot teams in tunnel-like fading environments

Rizzo

Tardioli

Sicignano

et al. 2013

The International Journal of Robotics Research

View full text Add to dashboard Cite

show abstract

A Reactive Control Algorithm for 3D Navigation of a Non-holonomic Robot in Tunnel-Like Environments with Static Obstacles

Verma

Visgaard

2020

2020 Australian and New Zealand Control Conference (ANZCC)

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Multi-sensor clustering using Layered Affinity Propagation

Ott

Ramos

2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Current robotic systems carry many diverse sensors such as laser scanners, cameras and inertial measurement units just to name a few. Typically such data is fused by engineering a feature that weights the different sensors against each other in perception tasks. However, in a long-term autonomy setting the sensor readings may change drastically over time which makes a manual feature design impractical. A method that can automatically combine features of different data sources would be highly desirable for adaptation to different environments. In this paper, we propose a novel clustering method, coined Layered Affinity Propagation, for automatic clustering of observations that only requires the definition of features on individual data sources. How to combine these features to obtain a good clustering solution is left to the algorithm, removing the need to create and tune a complicated feature encompassing all sources. We evaluate the proposed method on data containing two very common sensor modalities, images and range information. In a first experiment we show the capability of the method to perform scene segmentation on Kinect data. A second experiment shows how this novel method handles the task of clustering segmented colour and depth data obtained from a Velodyne and camera in an urban environment.

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Untitled

Cited by 13 publications

References 183 publications

Signal-based deployment planning for robot teams in tunnel-like fading environments

Signal-based deployment planning for robot teams in tunnel-like fading environments

A Reactive Control Algorithm for 3D Navigation of a Non-holonomic Robot in Tunnel-Like Environments with Static Obstacles

Multi-sensor clustering using Layered Affinity Propagation

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