NDLI: Backstepping based multiple mobile robots formation control

Please wait, while we are loading the content...

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems

Conference committee

Conference committee

Table of contents

A statistical framework for natural feature representation

Hierarchical map building using visual landmarks and geometric constraints

An analysis of the bias correction problem in simultaneous localization and mapping

Cooperative localization by fusing vision-based bearing measurements and motion

Humanoid motion planning using multi-level DOF exploitation based on randomized method

Emergency stop algorithm for walking humanoid robots

Discontinuous spinning gait of a quadruped walking robot with waist-joint

Design, simulation and walking experiments for a humanoid and gorilla robot with multiple locomotion modes

Self-collision avoidance motion control for human robot cooperation system using RoBE

Humanoid robot platform suitable for studying embodied interaction

Analysis of humanoid appearances in human-robot interaction

Tracking for following and passing persons

Electrostatic analysis and design of a cable-free body area network of sensor nodes using 2D communication over conductive fabric sheets

CSD: cell-based service discovery in large-scale robot networks

Construction of wireless ad hoc network for Lifelog based physical and informational support system

Three-tiered sensor networks architecture for traffic information monitoring and processing

Minima controlled recursive averaging noise reduction for multi-aided inertial navigation of ground vehicles

A step toward GPS/INS personal navigation systems: real-time assessment of gait by foot inertial sensing

Relative collaborative localization using pyroelectric sensors

Steering flexible needles under Markov motion uncertainty

A novel 3-DOF high acceleration/high precision robot optimal design and experimental verification

Unconstrained dynamic planar manipulation with one joint manipulator

Kendama game by casting manipulator

Method for applying reinforcement learning to motion planning and control of under-actuated underwater vehicle in unknown non-uniform sea flow

Simultaneous learning to acquire competitive behaviors in multi-agent system based on a modular learning system

Extracting multi-modal dynamics of objects using RNNPB

Vector Quantization for State-Action Map Compression — Comparison with Coarse Discretization Techniques and Efficiency Enhancement

Incremental robot mapping with fingerprints of places

Incremental multi-robot mapping

Interlaced extended Kalman filter for real time navigation

Robust mobile robot localization with combined Kalman filter-perturbation estimator

Sound source tracking with directivity pattern estimation using a 64 ch microphone array

Sound source separation for a robot based on pitch

Two-stage blind source separation based on ICA and binary masking for real-time robot audition system

Blind sound scene decomposition for robot audition using SIMO-model-based ICA

Distance based communication in the surveillance task in a multi-robot system

Optimal search for multiple targets in a built environment

"XPFCP": an extended particle filter for tracking multiple and dynamic objects in complex environments

Improving cost estimation in market-based coordination of a distributed sensing task

A vision-based user authentication system in robot environments by using semi-biometrics and tracking

Pareto optimal camera placement for automated visual inspection

Positioning of wire suspension system using CCD cameras

Efficient polygonal intersection determination with applications to robotics and vision

Integration of planning and reactive obstacle avoidance in autonomous sensor-based navigation

Collision avoidance of a mobile robot for moving obstacles based on impedance force control algorithm

Time-optimal rendezvous with moving objects in dynamic cluttered environments using a guidance based technique

Obstacle avoidance strategy based on adaptive potential fields generated by an electronic stick

Attitude and gyro bias estimation for a flying UAV

Combined optic-flow and stereo-based navigation of urban canyons for a UAV

Flight dynamics of a butterfly-type ornithopter

Complete pose determination for low altitude unmanned aerial vehicle using stereo vision

Appearance-based topological Bayesian inference for loop-closing detection in cross-country environment

Unscented SLAM for large-scale outdoor environments

Some results on SLAM and the closing the loop problem

Data association in dynamic environments using a sliding window of temporal measurement frames

Combined control of CPG and torso attitude control for biped locomotion

Pushing operation for humanoid robot using multipoint contact states

Locomotion studies for a 5DoF gymnastic robot

Motion planning for humanoid robots stepping over obstacles

Interactive object learning for robot companions using mosaic images

A methodology to assess performance of human-robotic systems in achievement of collective tasks

Effects of nonverbal communication on efficiency and robustness in human-robot teamwork

Anxiety detection during human-robot interaction

Modeling and design of mobile surveillance networks using a mutational analysis approach

Automated calibration of a camera sensor network

Operators as information sources in sensor networks

Service-oriented integration of networked robots with ubiquitous sensors and devices using the semantic Web services technology

Autofocusing algorithm selection in computer microscopy

Manipulating biological cells with a micro-robot cluster

Contractile force measurements of cardiac myocytes using a micro-manipulation system

Positioning and immobilization of single-cell in thermo sensitive hydro gel using optical tweezers

Identification and appropriate parametrization of parallel robot dynamic models by using estimation statistical properties

RoboTenis: optimal design of a parallel robot with high performance

A planar parallel manipulator - dynamics revisited and controller design

Self-calibration of delta parallel robots with elastic deformation compensation

Multi-agent quadrotor testbed control design: integral sliding mode vs. reinforcement learning

Supervised machine learning for modeling human recognition of vehicle-driving situations

A multiple particle filters method for fault diagnosis of mobile robot dead-reckoning system

Learn to grasp utilizing anthropomorphic fingertips together with a vision sensor

Feature based map building using sparse sonar data

Real-time audio-visual localization of user using microphone array and vision camera

Indoor robot navigation using a POMDP based on WiFi and ultrasound observations

Sound source localisation through active audition

Implementation of active direction-pass filter on dynamically reconfigurable processor

Spatially mapping of friendliness for human-robot interaction

A tension-moderating mechanism for promoting speech-based human-robot interaction

Noise-robust hands-free speech recognition based on spatial subtraction array and known noise superimposition

Decentralized approach for multi-robot task allocation problem with uncertain task execution

A probabilistic approach to coordinated multi-robot indoor surveillance

Meta-level control under uncertainty for handling multiple consumable resources of robots

Broker: an interprocess communication solution for multi-robot systems

Multiple-object detection in natural scenes with multiple-view expectation maximization clustering

A robust vision-based controller for mobile robots navigation: application to the task sequencing problem

Agent-based active-vision system reconfiguration for autonomous surveillance of dynamic, multi-object environments

Estimating head orientation based upon sky-ground representation

Iterative relaxation of constraints: a framework for improving automated motion planning

Generating near minimal spanning control sets for constrained motion planning in discrete state spaces

Lazy robots constrained by at most two polygons

Planning with uncertainty in position an optimal and efficient planner

Autonomous flight trajectory generation via attractor dynamics

Identification of a small unmanned helicopter model using genetic algorithms

Towards real-world searching with fixed-wing mini-UAVs

Hemispherical eye sensor in micro aerial vehicles using advanced pinhole imaging system

Sparse extended information filters: insights into sparsification

Entropy based feature selection scheme for real time simultaneous localization and map building

Global localization in SLAM in bilinear time

Cooperative relative robot localization with audible acoustic sensing

Merging probabilistic models of navigation: the Bayesian map and the superposition operator

Generation of humanoid robot motions with physical constraints using hierarchical B-spline

Control strategy for vertical jump of humanoid robots

Design of humanoid complicated dynamic motion based on human motion capture

A reinforceable-muscle flexible-spine humanoid "Kenji"

Semi-automatic obstacle avoidance control for operation support system with haptic joystick

Visualization and simulation of sensory events as a representation of states for state-based teaching by demonstration in VR

Human-human haptic collaboration in cyclical Fitts' tasks

Accurate multi-DOF kinesthetic haptic display using instantaneous restriction space

The Pantograph Mk-II: a haptic instrument

Data gathering communication in wireless sensor networks using ant colony optimization

Data fusion and error reduction algorithms for sensor networks

Mobile sensor deployment for a dynamic cluster-based target tracking sensor network

Adaptive sampling for environmental field estimation using robotic sensors

Reducing the number of mobile sensors for coverage tasks

Towards co-operative autonomous 1cm/sup 3/ robots for micro and nanomanipulation applications: MICRON

Error compensation and feedforward controller design for a 6-dof micro-positioning platform

An evaluation of grasp force control in single-master multi-slave tele-micromanipulation

H/sub /spl infin// loop shaping for stabilization and robustness of a telemicromanipulation system

Force-feedback micromanipulation with unconditionally stable coupling

A general approach for accuracy analysis of parallel manipulators with joint clearance

Stiffness influence atlases of a novel flexure hinge-based parallel mechanism with large workspace

Redundancy in the control of robots with highly coupled mechanical structures

Kinematic analysis and implementation of a spherical 3-degree-of-freedom parallel mechanism

Effective geometrical calibration of a delta parallel robot used in neurosurgery

Neural network learning from hint for the inverse kinematics problem of redundant arm subject to joint limits

NN-based solution of forward kinematics of 3DOF parallel spherical manipulator

Inverse kinematics learning for robotic arms with fewer degrees of freedom by modular neural network systems

Emergence of delayed reward learning from sensorimotor coordination

Anatomical model of the spinal nervous system and its application to the coordination analysis for motor learning support system

Making use of what you don't see: negative information in Markov localization

Dependable localization strategy in dynamic real environments

Mobile robot start-up positioning using interval analysis

A practical approach to control and self-localization of Persia omni directional mobile robot

Robust navigation using Markov models

Audio servo for robotic systems with pinnae

Auditory robotic tracking of sound sources using hybrid cross-correlation and recurrent networks

Making a robot recognize three simultaneous sentences in real-time

Three ring microphone array for 3D sound localization and separation for mobile robot audition

An experimental testbed for sound source localization with mobile robots using optimized wideband beamformers

Active versus passive expression of preference in the control of multiple-robot decision-making

Action control method for mobile robot considering uncertainty of information

Reducing spatial interference in robot teams by local-investment aggression

Flocking coordination of multiple mobile autonomous agents with asymmetric interactions and switching topology

Utilizing external perception and intelligence in a networked robotic system

Feature matching based on geometric constraints in stereo views of curved scenes

Removal of adherent waterdrops from images acquired with stereo camera

Wide-area recognition using hybrid motion stereo outlier rejection for motion stereo: outlier rejection for motion stereo using sequential data

A real-time 3D workspace modeling with stereo camera

A stereo matching algorithm based on color segments

RoboCart: toward robot-assisted navigation of grocery stores by the visually impaired

Analysis of system performance for robotic spray forming process

An on-line neural network-based approach to dynamic path planning and coordination of two robot arms

Motion planning in dynamic environments using the velocity space

Feature based omnidirectional sparse visual path following

Robust feedback linearization and GH/sub /spl infin// controller for a quadrotor unmanned aerial vehicle

RIC (robust internal-loop compensator) based flight control of a quad-rotor type UAV

An information-theoretic approach to autonomous navigation and guidance of an uninhabited aerial vehicle in unknown environments

A novel force tracking control approach to an autonomous unmanned helicopter system

A robotic testbed for zero-g emulation of spacecraft

Decoupling localization and mapping in SLAM using compact relative maps

Efficient mapping through exploitation of spatial dependencies

Evolutionary particle filter: re-sampling from the genetic algorithm perspective

Concurrent mapping and localization for mobile robot using soft computing techniques

Active stereo based compact mapping

Design and implementation of reconfigurable modular humanoid robot architecture

A shoulder structure of muscle-driven humanoid with shoulder blades

Architectural design of miniature anthropomorphic robots towards high-mobility

Generating natural motion in an android by mapping human motion

High-speed pressure sensor grid for humanoid robot foot

Tactile telepresence system using PVDF sensors and electrostatic stimulator

Novel haptic mouse system for holistic haptic display and potential of vibrotactile stimulation

Transparent surface acoustic wave tactile display

A tactile synthesis method using multiple frequency vibrations for representing virtual touch

Real time stiffness display interface device for perception of virtual soft object

Predictive controller for heterogeneous sensor network operation in dynamic environments

Environmental monitoring with mobile robots

Spatiotemporal query strategies for navigation in dynamic sensor network environments

Optimal sampling using singular value decomposition of the parameter variance space

Optimal control of flexible end effector in AFM based nanomanipulation

A four degree of freedom MEMS microgripper with novel bi-directional thermal actuators

Dynamic performance enhancement of PVDF force sensor for micromanipulation

Single nanotube array based nano encoders

Measurement of the mechanical properties of living cell using micro hand and developed AFM system

Fully-isotropic parallel robots with four degrees of freedom T2R2-type

High resolution flexible 3-RRR planar parallel micro-stage in near singular configuration for resolution improvement. Part I

Par4: very high speed parallel robot for pick-and-place

Optimal design of parallel manipulators for maximum effective regular workspace

Lie theoretical approach to synthesizing T(3) parallel kinematic manipulators

Reinforcement learning of cooperative behaviors for multi-robot tracking of multiple moving targets

Learning Bayesian models of sensorimotor interaction: from random exploration toward the discovery of new behaviors

Learning of action patterns and reactive behavior plans via a novel two-layered ethology-based action selection mechanism

Learning nonlinear appearance manifolds for robot localization

Enhanced learning classifier system for robot navigation

Kalman filters predictive steps comparison for vehicle localization

Towards geometric 3D mapping of outdoor environments using mobile robots

Observability analysis for mobile robot localization

Sensor planning for mobile robot localization - a hierarchical approach using Bayesian network and particle filter

Experimental vehicle localization by bounded-error state estimation using interval analysis

Visual attention priming based on crossmodal expectations

Improving plane extraction from 3D data by fusing laser data and vision

Integrating vision and speech for conversations with multiple persons

Tracking multiple people using laser and vision

A self-configuring MANET for coverage area adaptation through kinematic control of a platoon of mobile robots

Backstepping based multiple mobile robots formation control

Mechanics of cooperative nonprehensile pulling by multiple robots

Stability on multi-robot formation with dynamic interaction topologies

A tracking controller for motion coordination of multiple mobile robots

Invariants and omnidirectional vision for robot object recognition

Simultaneously calibrating catadioptric camera and detecting line features using Hough transform

Calibration of lens distortion by structured-light scanning

Calibrating an active omnidirectional vision system

Dynamic calibration of a structured light system via planar motion

An art gallery-based approach to autonomous robot motion planning in global environments

Voronoi extraction of free-way areas in cluttered environments

Extending the potential fields approach to avoid trapping situations

K2: an efficient approximation algorithm for globally and locally multiply-constrained planning problems

Experimental research of navigation behavior selection using generalized stochastic Petri nets (GSPN) for a tour-guide robot

Closed loop control for autonomous approach and placement of science instruments by planetary rovers

Study on turn motion of child rovers of a reconfigurable planetary rover system

Mobility performance evaluation of planetary rovers in consideration of different gravitational acceleration

Slip compensation for a Mars rover

Experimental and simulation results of wheel-soil interaction for planetary rovers

Efficient global scan matching using saliency-based scan point resampling

Laser scan matching in polar coordinates with application to SLAM

Probabilistic scan matching for motion estimation in unstructured environments

Robust scan matching localization using ultrasonic range finders

Slip observer for walking on a low friction floor

Development of foot system of biped walking robot capable of maintaining four-point contact

A plantar H-slit force sensor for humanoid robots to detect the reaction forces

Design of humanoid with insert-molded cover towards the variety of exterior design of robots

Interactive evolution of human-robot communication in real world

What is a robot companion - friend, assistant or butler?

Adaptive human interface for refreshing sleep based on biological rhythm

A multi-modal object attention system for a mobile robot

Optimal mobile sensor motion planning under nonholomonic constraints for parameter estimation of distributed systems

On the deployment of a hybrid free-space optic/radio frequency (FSO/RF) mobile ad-hoc network

Simultaneous localization and mobile robot navigation in a hybrid sensor network

Efficient map synchronization in ad hoc mobile robot networks for environment exploration

Subjective evaluation of motion characteristics of dual manipulator in young and elderly people

Automatic docking and recharging system for autonomous security robot

A two-layer model for behavior and dialogue planning in conversational service robots

Augmenting situation awareness via model-based control in rescue robots

An inverse functional approach for motion coordination of hyper-redundant articulated systems

A new task-consistent overturn prevention algorithm for redundant mobile modular manipulators

A unified contouring control in the task space

Comparative experiments on task space control with redundancy resolution

Learning by doing: space-associate language learning using a sensorized environment

A detection system for human abnormal behavior

Robot behavior adaptation for human-robot interaction based on policy gradient reinforcement learning

HMM-based dance step estimation for dance partner robot -MS DanceR$

Robot motion generation considering external and internal impulses

A smart rheologic MSD model pushed/calibrated/evaluated by experimental impulses

Using projected dynamics to plan dynamic contact manipulation

Stability analysis for dynamic control on contact with soft interface in continuous-discrete time system

Estimation of contact shape of quadric environment with object probing operation

Three-dimensional contact imaging with an actuated whisker

Robot-based dedicated measuring system with data redundancy for profile inspection

Relative movement evaluation between developed distributed-type tactile sensor and the contacting object

Distributed multi-robot coalitions through ASyMTRe-D

Task planning and control for a multi-UAV system: architecture and algorithms

Navigation of multiple input constraint micro-robotic agents

Random sampling algorithm for multi-agent cooperation planning

Visual servoing of a mobile microrobot inside a scanning electron microscope

Automatic feature planning for robust visual servoing

A new redundancy formalism for avoidance in visual servoing

Real time planar structure tracking for visual servoing: a contour and texture approach

Active vision of a heavy material handling agricultural robot using robust control: a case study for initial cost problem

Dynamic tracking control of uncertain nonholonomic mobile robots

Trajectory tracking control of farm vehicles in presence of sliding

Dominant orientation tracking for path following

Using sound diffraction to determine the seabed slope

Accurate thruster modeling with non-parallel ambient flow for underwater vehicles

A complete solution to underwater navigation in the presence of unknown currents based on range measurements from a single location

A visually guided swimming robot

An augmented state SLAM formulation for multiple line-of-sight features with millimetre wave RADAR

Vehicle detection and car park mapping using laser scanner

A comparison of line extraction algorithms using 2D laser rangefinder for indoor mobile robotics

Dense 3D map building based on LRF data and color image fusion

Stability maintenance of a humanoid robot under disturbance with fictitious zero-moment point (FZMP)

Working postures for humanoid robots to generate large manipulation force

A new ZMP constraint equation with application to motion planning of humanoid using kinematic redundancy

Stability analysis of a walk of a biped with control of the ZMP

Real-time human motion analysis for human-robot interaction

A planning method for safe interaction between human arms and robot manipulators

Safe human-robot-coexistence: emergency-stop using a high-speed vision-chip

Human-robot cooperative sweeping by extending commands embedded in actions

Behavior prediction based on daily-life record database in distributed sensing space

A t-step ahead constrained optimal target detection algorithm for a multi sensor surveillance system

Task allocation for event-aware spatiotemporal sampling of environmental variables

Smart resource reconfiguration by exploiting dynamics in perceptual tasks

3D ground adaptive synthetic aperture radar for landmine detection

Excavation depth and crush process for an excavation-type demining robot

Towards landmine detection using artificial vision

A ground-penetrating robot for underground chemical source location

An analysis of reaching movements in manipulation of constrained dynamic objects

Trajectory tracking of redundant manipulators based on avoidance manipulability shape index

Three-dimensional multi-joint reaching under redundancy of DOFs

Efficient prioritized inverse kinematic solutions for redundant manipulators

Mimesis from partial observations

Rapid synchronization and accurate phase-locking of rhythmic motor primitives

On-line learning of a feedback controller for quasi-passive-dynamic walking by a stochastic policy gradient method

The anthropomorphic flutist robot WF-4R: from mechanical to perceptual improvements

Contact and impact dynamics of space manipulator and free-flying target

Design of anthropomorphic 4-DOF tactile interaction manipulator with passive joints

Shoe-Mouse: an integrated intelligent shoe

Second-order contact kinematics for regular contacts

Sensing characteristics of an optical three-axis tactile sensor mounted on a multi-fingered robotic hand

The design and fabrication of a flexible three-dimensional force sensor skin

Development of carbon microcoils (CMC) sensor system with high sensitivity for effective acquisition of tactile information

Development of tactile sensor for detecting contact force and slip

An asynchronous distributed routing system for multi-robot cooperative transportation

Behavior-based multi-robot collaboration for autonomous construction tasks

A global control strategy for urban vehicles platooning relying on nonlinear decoupling laws

A distributed routing method for multiple AGVs for motion delay disturbances

Control of an ultrasound probe by adaptive visual servoing

Uncalibrated image-based position-force adaptive visual servoing for constrained robots under dynamic friction uncertainties

Visual servoing of a wheeled mobile robot for intercepting a moving object

Maintaining visibility of a moving holonomic target at a fixed distance with a non-holonomic robot

Robust internal model control with feedforward controller for a high-speed motion platform

Steering characteristics of an exploration rover on loose soil based on all-wheel dynamics model

Explicit lateral force control of an autonomous mobile robot with slip

Realizing model-based wearable antigravity muscles support with dynamics terms

Initial experimental investigation of undulating fin

Stabilization based design and experimental research of a fish robot

A visual servoing system for an aquatic swimming robot

Novel mechatronics design for a robotic fish

Robust sonar feature detection for the SLAM of mobile robot

EKF-based 3D SLAM for structured environment reconstruction

Particle filtering for localization in robotic assemblies with position uncertainty

A probabilistic framework to monitor a multi-mode outdoor robot

RHO humanoid robot bipedal locomotion and navigation using Lie groups and geometric algorithms

Stability of zero-moment-manifold control for a family of under-actuated robots

Omni-directional quadruped walking gaits and simulation for a gorilla robot

Autonomous gait generation using acceleration capability analysis

Tracking assist system using virtual friction field

Three-layered draw-attention model for humanoid robots with gestures and verbal cues

Human-robot interaction for robotic grasping: a pilot study

The closed-loop human eye-brain-hand to computer (EBH-C) interface for hand sensory-motor coordination based on force tablet

QoS management of supermedia enhanced teleoperation via overlay networks

Adaptable Web interfaces for networked robots

Pano-presence for teleoperation

A case study of 3D stereoscopic vs. 2D monoscopic tele-reality in real-time dexterous teleoperation

Acoustic display for navigation in Internet-based teleoperation

A motion rule for human-friendly robots based on electrodermal activity investigations and its application to mobile robot

Soft remote control system in the intelligent sweet home

Designing robots for long-term social interaction

Effects of robot therapy for demented patients evaluated by EEG

Path planning with general end-effector constraints: using task space to guide configuration space search

Prioritized motion planning for multiple robots

An adaptive configuration-space and work-space based criterion for view planning

A smoothing strategy for PRM paths application to six-axes MOTOMAN SV3X manipulator

Trajectory tracking performance in task space of robot manipulators: an adaptive neural controller design

Motion control of two-link flexible-joint robot with actuator nonlinearities, using backstepping and neural networks

Robust stability analysis of FJR composite controller with a supervisory loop

Tracking control of a belt-driving system using improved Fourier series based learning controller

A multi-degree-of-freedom ultrasonic motor using single-phase-driven vibrators

A novel type of microrobot for biomedical application

Development of intelligent McKibben actuator

Improving heat sinking in ambient environment for the shape memory alloy (SMA)

An underactuated robot with a hyper-articulated deployable arm working inside an aircraft wing-box

Low cost active range sensing using halogen sheet-of-light for occupancy grid map building

Surface differentiation and localization by parametric modeling of infrared intensity scans

A new method for range estimation using simple infrared sensors

Front and rear vehicle detection and tracking in the day and night times using vision and sonar sensor fusion

Trajectory planning for multiple robots in bearing-only target localisation

Multi-robot forest coverage

A rectangular partition algorithm for planar self-assembly

Highly efficient AGV transportation system management using agent cooperation and container storage planning

Towards multi-focal visual servoing

2 1/2 D visual servoing with central catadioptric cameras

Visual tracking and servoing system design for circling a target of an air vehicle simulated in virtual reality

Safety issues in nonstop update of running programs for mobile robots

State-dependent disturbance compensation in low-cost wheeled mobile robots using periodic adaptation

A human adaptive path tracking method for omnidirectional passive walking aid system

Tracking control of mobile manipulator with dynamical uncertainties

Implementation of an obstacle avoidance support system using adaptive and learning schemes on electric wheelchairs

Velocity control of an omni-directional wheelchair considering user's comfort by suppressing vibration

Actualization of safe and stable stair climbing and three-dimensional locomotion for wheelchair

Robotic assistance: an automatic wheelchair tracking and following functionality by omnidirectional vision

Global consistency mapping with a hybrid representation

Exploring information theory for vision-based volumetric mapping

Creating robust roadmaps for motion planning in changing environments

Improved vehicle based multibeam bathymetry using sub-maps and SLAM

Prosody based emotion recognition for MEXI

Modeling of the emotional model with friendship for familiarity of robot

Human perspective on affective robotic behavior: a longitudinal study

An empirical study of machine learning techniques for affect recognition in human-robot interaction

Generation of fingering motions by robotic fingers using morphological characteristics of human thumb

Intelligent kitchen: cooking support by LCD and mobile robot with IC-labeled objects

Manipulator operation by using brain-wave signals

An eye-to-hand visual servoing structure for 3D positioning of a robotic arm using one camera and a flat mirror

Haptic telemanipulation with dissimilar kinematics

A novel distributed architecture for building Web-enabled remote robotic laboratories

Motion compression applied to guidance of a mobile teleoperator

Presentation consistency in collaborative teleoperation systems

Multi-operator/multi-robot teleoperation: an adaptive nonlinear control approach

Mechanical stiffness control for antagonistically driven joints

Water strider's muscle arrangement-based robot

Development of a talking robot with vocal cords and lips having human-like biological structures

Facial expression of a robot using a curved surface display

Optimization of damping control parameters for cycle time reduction in clutch assembly

Direct force and position control using kinematics and dynamics of manipulators in constrained motion

Integration of planning and execution in force controlled compliant motion

Control of multiple DOF hybrid haptic interface with active/passive actuators

A low-level framework for a probabilistic treatment of the topological description of a robot mission

Online recognition and segmentation for time-series motion with HMM and conceptual relation of actions

Performance evaluation and analysis of SENMP in robotics experiments

Trajectory clustering and stochastic approximation for robot programming by demonstration

Wound roll dielectric elastomer actuators: fabrication, analysis and experiments

A design study of a cable-driven hexapod

Tension analysis of cable-driven parallel mechanisms

Design and analysis of a permanent magnet spherical actuator

An identification scheme for robot actuator faults

Design of an MR-compatible three-axis force sensor

An active micro-force sensing system with piezoelectric servomechanism

A review of biological, biomimetic and miniature force sensing for microflight

On the use of torque sensors in a space robotics application

Programmable parts: a demonstration of the grammatical approach to self-organization

Using hexagonal metamorphic robots to form temporary bridges

A modular robot that exploits a spontaneous connectivity control mechanism

An algorithm for testing object caging condition by multiple mobile robots

Dynamic visual servoing of robots in uncalibrated environments

Robust decoupled visual servoing based on structured light

Uncalibrated visual servoing using a biased Newton method for on-line singularity detection and avoidance

Calibration free path planning for visual servoing yielding straight line behaviour both in image and work space

Global dynamic window approach for holonomic and non-holonomic mobile robots with arbitrary cross-section

Motions on steps and slopes of omni-directional mobile robot, "VmaxCarrier2"

Omnidirectional mobile robots with powered caster wheels: design guidelines from kinematic isotropy analysis

Command system and motion control for caster-type omni-directional mobile robot

Needs and solutions - home automation and service robots for the elderly and disabled

Development of a new shoulder mechanism for a muscle suit

Live experimentation of the service robot applications for elderly people care in home environments

Development of a wearable biomedical health-care system

Stabilizing information-driven exploration for bearings-only SLAM using range gating

Undelayed initialization in bearing only SLAM

A practical 3D bearing-only SLAM algorithm

Near minimum time path planning for bearing-only localisation and mapping

Task model of lower body motion for a biped humanoid robot to imitate human dances

Walking stabilization of biped with pneumatic actuators against terrain changes

Bipedal walking pattern design based on synchronization of the motions in sagittal and lateral planes

3D dynamic walking based on the inverted pendulum model with two degree of underactuation

Humatronics (1) - natural interaction between human and networked robot using human motion recognition

Proportion regulation for division of labor in multi-robot system

Augmented variable center of rotation in controlling a robotic walker to adapt user characteristics

Human recognition of a partner robot based on relevance theory and neuro-fuzzy computing

Thermal bilateral coupling in teleoperators

Transparent teleoperation using two-channel control architectures

Transparency in port-Hamiltonian based telemanipulation

Power scaling in port-Hamiltonian based telemanipulation

A collision prediction system for traffic intersections

Visual gesture recognition for ground air traffic control using the Radon transform

Human posture reconstruction based on posture probability density

Detecting and tracking people by mobile robot using structured light range sensor

Sensory-motor control of a muscle redundant arm for reaching movements - convergence analysis and gravity compensation

Using energy-based variable structure approach to control the vibrations in a nonlinear beam with large deformations

Robust control law strategy based on high order sliding mode: towards a muscle control

An adaptive control of a space manipulator for vibration suppression

Fuzzy discrete event system based behavior modulation in mobile robotics

Symbolic memory for humanoid robots using hierarchical bifurcations of attractors in nonmonotonic neural networks

Fuzzy approach for mobile robot positioning

Intelligent control of a two-link flexible-joint robot, using backstepping, neural networks, and direct method

Online computation of grasping force in multi-fingered hands

A constrained optimization approach to virtual fixtures

Dynamic preshaping based optimum design for high speed capturing robots

Determining independent grasp regions on 2D discrete objects

Eye-gaze tracking: an approach to pupil tracking targeted to FPGAs

Real-time, adaptive color-based robot vision

Generic fusion of visual cues applied to real-world object segmentation

The robot is the tether: active, adaptive power routing modular robots with unary inter-robot connectors

Autonomous vehicle-following systems : a virtual trailer link model

Distributed robotics approach to chemical plume tracing

Robotic simulation of gases for a surveillance task

Query-based occupancy map for SVM-CBIR on mobile robot image database

Structure from stereo vision using unsynchronized cameras for simultaneous localization and mapping

Online dense local 3D world reconstruction from stereo image sequences

Vision data registration for robot self-localization in 3D

User interfaces for continuum robot arms

Serpentine locomotion of a snake-like robot controlled by cyclic inhibitory CPG model

Serpentine locomotion of a snake-like robot controlled by musical theory

DNA type multi-DOF flexible robot

Building local maps in surgical robotics

A disposable MEMS-based micro-biopsy catheter for the minimally invasive tissue sampling

A disposable plastic compact wrist for smart minimally invasive surgical tools

A rotational micro biopsy device for the capsule endoscope

Real-time image-based topological localization in large outdoor environments

CV-SLAM: a new ceiling vision-based SLAM technique

Online visual motion estimation using FastSLAM with SIFT features

View-based localization in outdoor environments based on support vector learning

An approach to environment modelling for biped walking robots

Straight legged walking of a biped robot

Step-by-step sliding mode observer for control of a walking biped robot by using only actuated variables measurement

Self-stabilized biped walking under control of a novel reflexive network

An exoskeleton robot for human arm movement study

Exoskeletons for human power augmentation

Hybrid hydraulic-electric power unit for field and service robots

On the mechanical design of the Berkeley Lower Extremity Exoskeleton (BLEEX)

Modeling tooling interactions of teleoperation using grey system theory

Telepresence and stability analysis for haptic tele-manipulation with short time delay

A control scheme for stable force-reflecting teleoperation over IP networks

Wave transformation using unit delayed reflection

Design of robust flow-path network for AGV systems using competitive co-evolution with packaging

Online job shop rescheduling with reaction-diffusion equation on a graph

ACO for a new TSP in region coverage

Robust motion control for robotic systems using sliding mode

Double layer sliding mode control for second-order underactuated mechanical systems

Cascade sliding-mode controller for large-scale underactuated systems

Decentralized sliding force/position PD control of cooperative robots in operational space under Jacobian uncertainty

Automatic code generation for actuator interfacing from a declarative specification

Ubiquitous robot simulation framework and its applications

URBI: towards a universal robotic low-level programming language

ERSP: a software platform and architecture for the service robotics industry

FPGA based hardware architecture for HIT/DLR hand

Manipulation of a circular object without object information

Designing robot admittance for polyhedral parts assembly taking into account grasping uncertainty

Kinematic modelling of multifingered hand's finger gaits as hybrid automaton

Development of higher order autocorrelation vision chip

A simple low cost vision system for small unmanned VTOL vehicles

The climbing sensor: 3-D modeling of a narrow and vertically stalky space by using spatio-temporal range image

Development of ultra-small lightweight optical range sensor system

Control and coordination of biomimetic robotic fish

A hierarchical framework for cooperative control of multiple bio-mimetic robotic fish

State space self-organization based on the interaction between basis functions

Computationally distributed, self-organizing control of manipulators in the operational space

Model-based tracking and hybrid force/vision control for the UJI librarian robot

Driver assistance system for lane detection and vehicle recognition with night vision

Covert path planning in unknown environments with known or suspected sentry location

Randomized view planning and occlusion removal for mosaicing building facades

A snake-like swimming robot using IPMC actuator and verification of doping effect

A FACL controller architecture for a grasping snake robot

Design and implementation of a multi-section continuum robot: Air-Octor

Compliant motion of a multi-segmented inspection robot

Development of ultrasonically activated bending scalpel using a link mechanism

Efficient magnetic localization and orientation technique for capsule endoscopy

Dynamic analysis of a modified DELTA parallel robot for cardiopulmonary resuscitation

Real-time singularity controller for a tele-operated medical echography robot

Graphical SLAM using vision and the measurement subspace

Visual navigation for indoor mobile robots using a single camera

Outdoor autonomous navigation using monocular vision

Vision-based simultaneous localization and mapping with two cameras

Metric localization using a single artificial landmark for indoor mobile robots

Development of a quadruped walking robot to work on steep slopes, TITAN XI (walking motion with compensation for compliance)

Transition from quadrupedal to bipedal locomotion

Walking up and down stairs carrying a human by a biped locomotor with parallel mechanism

Biped locomotion on level ground by torso and swing-leg control based on passive-dynamic walking

A novel wearable foot interface for controlling robotic hands

Three-dimensional lifting-up motion analysis for wearable power assist device of lower back support

Predicting the intended motion with EMG signals for an exoskeleton orthosis controller

Control method of robot suit HAL working as operator's muscle using biological and dynamical information

Development and control of a hand exoskeleton for rehabilitation of hand injuries

Robot-augmented communication: a remote-collaboration system based on a shared field of view in real space

Developments of new anthropomorphic robot hand and its master slave system

Teleoperation of a robot manipulator using EMG signals and a position tracker

Desargues theorem for augmented reality applications

Multi-hierarchical semantic maps for mobile robotics

Sensor-based motion planning for robot manipulators in unknown environments

Mechanism and control of tongue robot

An underactuated two-link-one-motor robot with dynamic mobility

Dynamic interference avoidance of 2-DOF robot arms using interval analysis

A unifying methodology for the control of robotic systems

Robust observer-based controller and its application in robot control

A new Cartesian controller for robot manipulators

Manipulability analysis of human arm movements during the operation of a variable-impedance controlled robot

RePLiCS: an environment for open real-time control of a dual-arm industrial robotic cell based on RTAI-Linux

RT-middleware: distributed component middleware for RT (robot technology)

Scripting technology and dynamic script generation for personal robot platforms

Towards component-based robotics

A real-time software framework for indoor navigation

Grasp analysis using deformable fingers

A visibility-based accessibility analysis of the grasp points for real-time manipulation

Two-step grasping strategy for capturing a stick-shaped object

Towards the definition of a functionality index for the quantitative evaluation of hand-prosthesis

Modelling and identification of soft pads for robotic hands

Active people recognition using thermal and grey images on a mobile security robot

Face detection in static images using Bayesian discriminating feature and particle attractive genetic algorithm

Modeling facial expression space for recognition

Robust multi-view face tracking

Efficient rectangle feature extraction for real-time facial expression recognition based on AdaBoost

Biologically-inspired self-deployable heterogeneous mobile sensor networks

A suboptimal model predictive formation control

Nonsingular formation control of cooperative mobile robots via feedback linearization

Pattern formation experiments in mobile actuator and sensor

Formation control: a review and a new consideration

Real-time vision on a mobile robot platform

Distributed visual servoing: a cross-platform agent-based implementation

A middleware for a large array of cameras

Passive control architecture for virtual humans

Embedded CMOS imaging system for real-time robotic vision

A comparative study between visibility-based roadmap path planning algorithms

The obstacle-restriction method for robot obstacle avoidance in difficult environments

Motion planning for the large space manipulators with complicated dynamics

Hierarchical dynamic programming for robot path planning

Safe motion planning in dynamic environments

Compact forceps manipulator for laparoscopic surgery

Development of a dexterous minimally-invasive surgical system with augmented force feedback capability

A robot-assisted surgery system for spinal fusion

Approach to an architecture for a generic computer integrated surgery system

In vitro patient-tailored anatomical model of cerebral artery for evaluating medical robots and systems for intravascular neurosurgery

Two-stage visual localisation: landmark-based pose initialisation and model-based pose refinement

Acquiring and maintaining abstract landmark chunks for cognitive robot navigation

Panoramic volumes for robot localization

Image based rendering for a mobile robot using visual landmarks

Qualitative localization using omnidirectional images and invariant features

Global motion control and support base planning

Walking control of a dual-planar parallel robot for omni-directional locomotion interface

2DOF motion stabilization of biped robot by gaze control strategy

Stable pinching with fingertips in humanoid robot hand

Steering control of the personal riding-type wheeled mobile platform (PMP)

Dance training system with active vibro-devices and a mobile image display

MILO: personal robot platform

On passing a doorway with an autonomous Internet connected wheelchair using MATLAB

Mobile micro-robots ready to use: Alice

The XBC: a modern low-cost mobile robot controller

How deterministic must a real-time controller be?

An extension of nonlinear receding horizon control for switched system with state jump

A repetitive periodic motion planning of articulated underwater robots subject to drag optimization

Analytical fault detection and diagnosis (FDD) for pneumatic systems in robotics and manufacturing automation

Arrangement planning for multiple self-moving trays in human supporting production cell "attentive workbench"

Placement of self-moving trays for the deskwork support system

An example of parts handling and self-assembly using stable limit sets

Calibration of robotic area sensing system for dimensional measurement of automotive part surfaces

Runtime self-adaptation in a component-based robotic framework

Fixed-step friction simulation: from classical Coulomb model to modern continuous models

A demonstration tool with Kalman filter data processing for robot programming by human demonstration

Hierarchical behavior organization

Towards a new concept of robot programming in high speed assembly applications

MLD modeling and optimal control of hand manipulation

Robot dribbling using a high-speed multifingered hand and a high-speed vision system

On the development of a novel adaptive prosthetic hand with compliant joints: experimental platform and EMG control

Control of multifunction myoelectric hand using a real-time EMG pattern recognition

Design and development of a light weight embodied robotic hand activated with only one actuator

Receptive field cooccurrence histograms for object detection

Recognition-based indoor topological navigation using robust invariant features

Image-based object recognition and dexterous hand/arm motion planning using RRTs for grasping in cluttered scene

Active multi-camera object recognition in presence of occlusion

On-tree fruit recognition using texture properties and color data

The proposal of swarm type wall climbing robot system "Anchor Climber" $the design and examination of adhering mobile unit $

Minimalistic approach towards communication and perception in microrobotic swarms

Design of a small and low-cost power management unit for a cockroach-like running robot

A small wall-walking robot with compliant, adhesive feet

A sensor platform capable of aerial and terrestrial locomotion

A model-based approach for visual guided grasping with uncalibrated system components

Mobile camera positioning to optimize the observability of human activity recognition tasks

Motion estimation of a moving range sensor by image sequences and distorted range data

The effect of spatial resolution reduction techniques on the temporal properties of video sequences

High-resolution three-dimensional sensing of fast deforming objects

Path planning for pushing a disk using compliance

Bounded velocity planning for autonomous vehicles

On improving the clearance for robots in high-dimensional configuration spaces

Finding narrow passages with probabilistic roadmaps: the small step retraction method

Adaptive tuning of the sampling domain for dynamic-domain RRTs

An earthworm-like locomotive mechanism for capsule endoscopes

Modelling of a 2D magnetic cell transport system

A mechatronic system for in-plane ground-reaction-force measurement for tremor analysis in animal models

Finger joint kinematics from MR images

Cutting force model of dental training system

2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)

Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)

IEEE/RSJ International Conference on Intelligent Robots and Systems

Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)

Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113)

Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289)

Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190)

Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96

Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)

Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems

Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91

EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications

Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications

IEEE International Workshop on Intelligent Robots

Backstepping based multiple mobile robots formation control

Content Provider	IEEE Xplore Digital Library
Author	Xiaohai Li Jizong Xiao Zijun Cai
Copyright Year	2005
Description	Author affiliation: Dept. of Electr. Eng., City Univ. of New York, NY, USA (Xiaohai Li; Jizong Xiao)
Abstract	In this paper, we investigate the leader following based formation control of multiple nonholonomic mobile robots. We present a new kinematics model for the leader-follower system using Cartesian coordinates rather than the commonly used polar coordinates in literature. Based on this new model and the idea of integrator backstepping, a globally stable controller is derived for the whole system. Simulation results are included to verify the efficacy of the presented new model and controller.
Starting Page	887
Ending Page	892
File Size	275313
Page Count	6
File Format	PDF
ISBN	0780389123
DOI	10.1109/IROS.2005.1545161
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-08-02
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Backstepping Mobile robots Robot control Robot kinematics Trajectory Sliding mode control Cities and towns Educational institutions Distributed control Unmanned aerial vehicles Multiple Mobile Robots Formation Control
Content Type	Text
Resource Type	Article

Central Library (ISO-9001:2015 Certified)
Indian Institute of Technology Kharagpur
Kharagpur, West Bengal, India | PIN - 721302

See location in the Map
03222 282435
Mail: support@ndl.gov.in

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in