NDLI: Incremental vision-based topological SLAM

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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

Online contact impedance identification for robotic systems

Scale-adaptive polygonal formations of submersible vehicles and tracking isocontours

Singularity analysis of zero-torsion parallel mechanisms

A new method for online parameter estimation of Hunt-Crossley environment dynamic models

Reactive robot control with hybrid operational models in a seaport container terminal considering system reliability

Remarks on markerless human motion capture from voxel reconstruction with simple human model

Adaptive support for patient-cooperative gait rehabilitation with the Lokomat

Pelvic motion measurement during over ground walking, analysis and implementation on the WalkTrainer reeducation device

Design of a new decoupled XY flexure parallel kinematic manipulator with actuator isolation

An improved algorithm of measuring extravehicular mobility unit (EMU) spacesuit joint damping parameters for the old passive robot system

Robust stability analysis of a bilateral teleoperation system using the parameter space approach

Multifunctional Mobile Units with a same platform for in-pipe inspection robots

1Km autonomous robot navigation on outdoor pedestrian paths “running the Tsukuba challenge 2007”

A GPS and laser-based localization for urban and non-urban outdoor environments

The quadruped locomotion robot with the flexible materials

Visual motion integration controls attractiveness of objects in walking flies and a mobile robot

Autonomous dynamic balance of an electrical bicycle using variable structure under-actuated control

Novel mechanism of artificial finger using double planetary gear system

Automatic calibration of catadioptric cameras in urban environment

Local control mechanisms in six-legged walking

Near-optimal navigation of high speed mobile robots on uneven terrain

A probabilistic Programming by Demonstration framework handling constraints in joint space and task space

How to recognize and remove qualitative errors in time-of-flight laser range measurements

Passivity-based observer/controller design with desired dynamics compensation for 6 dofs parallel manipulators

A robot uses its own microphone to synchronize its steps to musical beats while scatting and singing

High performance sound source separation adaptable to environmental changes for robot audition

Vibration control of a SCARA manipulator using pseudo-polynomial motion laws

Promoting interoperability: The libdrdc data standards library

Biologically inspired CPG based above knee active prosthesis

Vision based global localisation using a 3D environmental model created by a laser range scanner

An improved permutation solver for blind signal separation based front-ends in robot audition

An advantage of bipedal humanoid robot on the empathy generation: A neuroimaging study

Humanoid robot HRP-3

A fast and small 3-D Obstacle model for autonomous applications

A predefined command recognition system using a ceiling microphone array in noisy housing environments

Robust view matching-based Markov localization in outdoor environments

Soft motion trajectory planner for service manipulator robot

Nanohelices as motion converters

Minimally invasive torque sensor for tendon-driven robotic hands

Association of whole body motion from tool knowledge for humanoid robots

A new control strategy for ROBIAN biped robot inspired from human walking

Smart extraction of desired object from color-distance image with user’s tiny scribble

Identification of humanoid robots dynamics using floating-base motion dynamics

A goal oriented just-in-time visual servoing for ball catching robot arm

Merging maps via Hough transform

Positioning mobile manipulators to perform constrained linear trajectories

Calibration and nonlinearity compensation for force application in AFM based nanomanipulation

Scaffolding on-line segmentation of full body human motion patterns

Development of a positioning & compensation device for a versatile micro robot

A handshake robot system based on a shake-motion leading model

Robotics in education: Psychological relationships with “making-artifacts,“ computers, and mathematics in Japan

Development of rotary-linear piezoelectric actuator for MRI compatible manipulator

Multisensory five-finger dexterous hand: The DLR/HIT Hand II

Multi-robot complete exploration using hill climbing and topological recovery

Flocking for multi-robot systems via the Null-Space-based Behavioral control

Visual SLAM for 3D large-scale seabed acquisition employing underwater vehicles

Underactuated five-finger prosthetic hand inspired by grasping force distribution of humans

Analysis and simulation of fully ankle actuated planar bipedal robots

Visual servoing from two special compounds of features using a spherical projection model

The likelihood field approach to sonar scan matching

Vision-based grasp planning of 3D objects by extending 2D contour based algorithms

Online estimation of variance parameters: Experimental results with applications to localization

Target tracking using SIR and MCMC particle filters by multiple cameras and laser range finders

A self-supervised architecture for moving obstacles classification

Probabilistic scheme for laser based motion detection

3D smooth path planning for a UAV in cluttered natural environments

Field test of autonomous loading operation by wheel loader

Navigating dynamic environments using trajectory deformation

An efficient and generic 2D Inevitable Collision State-checker

Human-like motion based on a geometrical inverse kinematics and energetic optimization

Improvement of the operability of a tracked vehicle on uneven terrain using autonomous control of active flippers

Semi-autonomous traversal on uneven terrain for a tracked vehicle using autonomous control of active flippers

Sensor integration for person tracking and following with mobile robot

Adaptive control of four-wheel-steering off-road mobile robots: Application to path tracking and heading control in presence of sliding

Invariant signature description and trajectory reproduction for robot Learning by Demonstration

Tactile sensor with standing piezoresistive cantilevers, covered with 2-layer skin type structures for texture detection of object surface

A rollover indicator based on a tire stiffness backstepping observer: Application to an All-Terrain Vehicle

Interacting with a mobile robot: Evaluating gestural object references

Efficient probabilistic Range-Only SLAM

Object- and space-based visual attention: An integrated framework for autonomous robots

Self-organizing skill synthesis

Mobile robot path tracking of aggressive maneuvers on sloped terrain

Parallel visual-force control

The DLR-Crawler: A testbed for actively compliant hexapod walking based on the fingers of DLR-Hand II

A unified method for multi-body systems subject to stick-slip friction and intermittent contact

The dynamic analysis of the backward swimming mode for biomimetic carangiform robotic fish

Fast autofocus of microscopy images based on Depth-from-Defocus

Parametric excitation of a biped robot as an inverted pendulum

Agents at play: Off-the-shelf software for practical multi-robot applications

Control of underactuated manipulators using Modified Transpose Effective Jacobian

Experimental investigation of magnetic self-assembly for swallowable modular robots

Hysteresis and vibration compensation in a nonlinear unimorph piezocantilever

Myoelectric based virtual joystick applied to electric powered wheelchair

Distance computation for rotational and translational motions

Building local metrical and global topological maps using efficient scan matching approaches

Using binaural and spectral cues for azimuth and elevation localization

Stability characteristics in walking behavior with two different oscillatory elements: Roles of arc foot and internal oscillator

Dynamics simulation of humanoid robots with position-controlled joints and closed kinematic chains

Geometrical workspace analysis of a cable-driven redundant parallel manipulator: KNTU CDRPM

Recognition of human driving behaviors based on stochastic symbolization of time series signal

On-line estimation of inertial parameters using a recursive total least-squares approach

Graph signature for self-reconfiguration planning

Improved predictability of reactive robot control using Control Lyapunov Functions

Incremental vision-based topological SLAM

Recognizing texture and hardness by touch

Kinematic study of the spider system in a biomimetic perspective

A combination of vision- and vibration-based terrain classification

A position-based visual servoing scheme for following paths with nonholonomic mobile robots

Motion control of a virtual humanoid that can perform real physical interactions with a human

Interactive learning of visual topological navigation

A gauge-invariant formulation for constrained robotic systems using square-root factorization and unitary transformation

Coordinated kinematic motion control of Compliant Framed wheeled Modular Mobile Robots

Model-based passivity control for bilateral teleoperation of a surgical robot with time delay

Second order sliding mode control with disturbance observer for bicycle stabilization

A pattern generator of humanoid robots walking on a rough terrain using a handrail

Theoretical and experimental study of a heat transfer model for thermal feedback in virtual environments

Development of high speed and high sensitivity slip sensor

A scalable and distributed approach for self-assembly and self-healing of a differentiated shape

Optimal and quasi-optimal navigations of an AUV in current disturbances

Workspace of 3-D multifingered manipulation

GazeRoboard: Gaze-communicative guide system in daily life on stuffed-toy robot with interactive display board

Experimental study on autonomous burrowing screw robot for subsurface exploration on the Moon

State space modeling of ionic polymer-metal composite actuators based on electrostress diffusion coupling theory

Multi-variable constrained control approach for a three-dimensional eel-like robot

Self-configurable mobile robot swarms with hole repair capability

Stability boundary for haptic rendering: Influence of human operator

Physically-based simulation of the spine in dog walking

HybridExploration: A distributed approach to terrain exploration using mobile and fixed sensor nodes

Pedestrian detection method using a multilayer laserscanner: Application in urban environment

An adaptive appearance-based map for long-term topological localization of mobile robots

Dynamic object grasping by a triple-fingered robotic hand

Automatic detection of checkerboards on blurred and distorted images

Real-time path-tracking control of robotic manipulators with bounded torques and torque-derivatives

A multi-target tracking technique for mobile robots using a laser range scanner

Design of reconfigurable heterogeneous modular architecture for service robots

Stability analysis and robust control of a biped robot with four links and three actuators

IQ evaluation based adaptive wavelet denoising and enhancement for a VTRAN system

GPS accuracy improvement by satellite selection using omnidirectional infrared camera

Real-time 3D object pose estimation and tracking for natural landmark based visual servo

Efficiently learning high-dimensional observation models for Monte-Carlo localization using Gaussian mixtures

Measurement of force vector field of robotic finger using vision-based haptic sensor

Classification of odours with mobile robots based on transient response

What do people expect from robots?

Self-Localization with RFID snapshots in densely tagged environments

A solution for SLAM through augmenting vision and range information

Laban Movement Analysis for multi-ocular systems

Uncalibrated dynamic visual servoing using line features

Tracking of transport vehicles for warehouse management using a wireless sensor network

Towards dextrous manipulation using manipulation manifolds

Electric Field Servoing for robotic manipulation

Selection of robot pre-grasps using box-based shape approximation

Shaping electrodes for ultrahigh precision dielectrophoretic manipulation of carbon nanotubes

An alternative model for the evaluation of tyre shear forces under steady-state conditions

On optimal swinging of the biped arms

Practical characterisation of the friction force for the positioning and orientation of micro-components

A multi-camera person tracking system for robotic applications in virtual reality TV studio

System overview of bipedal robots Flame and TUlip: Tailor-made for Limit Cycle Walking

Fast plane detection and polygonalization in noisy 3D range images

Passivity based control of hydraulic robot arms using natural Casimir functions: Theory and experiments

Hovering flight and vertical landing control of a VTOL Unmanned Aerial Vehicle using optical flow

Concept of mechatronics safety and modularity design for an autonomous mobile soccer robot

Vibrating wing analysis with passive torsion for micro flying robot

Coordinated multi-robot exploration using a segmentation of the environment

Active global localization for multiple robots by disambiguating multiple hypotheses

Pattern recognition for loosely-coupled GPS/odometer fusion

Control of parallel robots using passive sensor data

Adaptive locomotion controller and reflex system for humanoid robots

Haptic display of dynamic systems subject to holonomic constraints

On the control of the KNTU CDRPM: A cable driven redundant parallel manipulator

Performance evaluation of a vertical line descriptor for omnidirectional images

3D head tracking and pose-robust 2D texture map-based face recognition using a simple ellipsoid model

A sensor-based controller able to treat total image loss and to guarantee non-collision during a vision-based navigation task

Emotional speech in the context of entertainment robots. The effect of different emotions on users’ perceptions

Towards a cognitive robot that uses internal rehearsal to learn affordance relations

Validating the Search and Rescue Game Environment as a robot simulator by performing a simulated anomaly detection task

Using structures to synchronize cameras of robots swarms

Optimal reference walking with rotation of the stance feet in single support for a 3D biped

A real-time communication protocol for interconnecting robotic smart devices

An Active helideck testbed for floating structures based on a Stewart-Gough platform

Optimization of impact motions for humanoid robots

A model-predictive approach to formation control of omnidirectional mobile robots

Two dimensional dynamic stability for reconfigurable robots designed to traverse rough terrain

A Sliding Mode Control law for epipolar visual servoing of differential-drive robots

Towards environmental monitoring with mobile robots

Vehicle dynamics estimation for camera-based visibility distance estimation

A unified simulator for Self-Reconfigurable Robots

An adaptive vision system for guidance of a robotic manipulator to capture a tumbling satellite with unknown dynamics

Elastic locomotion of a four steered mobile robot

Mobile robot broadband sound localisation using a biologically inspired spiking neural network

Reactive planning as a motivational source in a behavior-based architecture

Graph search joint path planning for robot center of gravity positioning

Extracting surveillance graphs from robot maps

Collision detection and reaction: A contribution to safe physical Human-Robot Interaction

Actuation of bistable buckled beams with Macro-Fiber Composites

A complementary filter for attitude estimation of a fixed-wing UAV

A proposal of flexible mono-tread mobile track — a new mobile mechanism using one track and spine-like structure —

Toward targeted retinal drug delivery with wireless magnetic microrobots

New design of the steering mechanism for a mini coaxial helicopter

Intelligent corset to support rollover of cancer bone metastasis patients - Mechanism to restrict the trunk ROM

Simultaneous robot Localization and Person Tracking using Rao-Blackwellised Particle Filters with multi-modal sensors

Centroidal Momentum Matrix of a humanoid robot: Structure and properties

Evaluating a reactive semantics for robotics

A spatial-temporal imputation technique for classification with missing data in a wireless sensor network

3D path planning and stereo-based obstacle avoidance for rotorcraft UAVs

Hybrid display of realistic tactile sense using ultrasonic vibrator and force display

Advanced child unit of “Anchor Climber” using modified internally-balanced magnet

Learning nonparametric policies by imitation

Dynamic crawl gait algorithm for quadruped robots

Shape classification in rotation manipulation by universal robot hand

Efficiency and symmetry of ballisitic gait

Quotient kinematics machines: Concept, analysis and synthesis

Pseudo virtual passive dynamic walking and effect of upper body as counterweight

Shape-grinding by direct position / force control with on-line constraint estimation

What makes people accept a robot in a social environment - discussion from six-week study in an office -

Sensing and control of quadruped walking and climbing robot over complex environment

Kinematic and Dynamic Dexterity measures for posture prediction

3D active appearance model for aligning faces in 2D images

Adhesion state detection by vision and its application to automatic micro manipulation

Distributed target tracking with energy consideration using mobile sensor networks

Development of force control device with high power and high resolution

Control strategy for a snake-like robot based on constraint force and verification by experiment

Lane marking detection by side Fisheye Camera

Active sensing based dynamical object feature extraction

A robust top-down approach for rotation estimation and vanishing points extraction by catadioptric vision in urban environment

Synchronous imitation control for biped robot based on wearable human motion analysis system

A physically-based haptic rendering for telemanipulation with visual information: Macro and micro applications

Experimental slip estimation for exact kinematics modeling and control of a Tracked Mobile Robot

Barge-in-able robot audition based on ICA and missing feature theory under semi-blind situation

Bouncing monopod with bio-mimetic muscular-skeleton system

Knotting manipulation of a flexible rope by a multifingered hand system based on skill synthesis

Calibration and on-line data selection of multiple optical flow sensors for mobile robot localization

Self-assembly through the local interaction between “embodied” nonlinear oscillators with simple motile function

An object recognition system based on color co-occurrence histogram and geometric relations of pyramidal image patches

Difference-based estimation of support friction

3D bipedal robot with tunable leg compliance mechanism for multi-modal locomotion

Demonstration of an ITER relevant remote handling equipment for Tokamak close inspection

Hierarchical Abstraction of World Elements and Behaviors for efficient task planning of a mobile robot

Modeling and control of spherical ultrasonic motor based on nonholonomic mechanics

A synchronous controller for multiple mobile robots in time-varied formations

Multimodal sensor fusion for attitude estimation of micromechanical flying insects: A geometric approach

Evolving feasible gaits for a hexapod robot by reducing the space of possible solutions

A realistic facial animation suitable for human-robot interfacing

A random set formulation for Bayesian SLAM

An optimal redundancy coordination method for an haptic interface

Layered understanding for sporadic imitation in a multi-robot scenario

Towards automated handling on the nano-scale

Application of visual odometry for sewer inspection robots

The Cyborg Fly: A biorobotic platform to investigate dynamic coupling effects between a fruit fly and a robot

A robot listens to music and counts its beats aloud by separating music from counting voice

Indoor localization system using multi-modulation of ultrasonic sensors and digital compass

Study on Roller-Walker - Adaptation of characteristics of the propulsion by a leg trajectory -

An adaptive impedance force control approach for robotic cell microinjection

Learning of object manipulation with stick/slip mode switching

Adaptive motion planning for humanoid robots

Forward Passageway based collision-free target tracking for mobile robot with local sensing

Induction of topological environment maps from sequences of visited places

Intercontinental multimodal tele-cooperation using a humanoid robot

Micro rubber structure realizing multi-legged passive walking

Development of a real-time instrument tracking system for enabling the musical interaction with the Waseda Flutist Robot

Estimation of camera parameters from arbitrary parallelograms

Reliable robust path planner

Reconfigurable group robots adaptively transforming a mechanical structure - Extended criteria for load-adaptive transformations -

Time-optimal manipulator control of a free-floating space robot with constraint on reaction torque

Fault tolerant adaptive mission planning with semantic knowledge representation for autonomous underwater vehicles

Simulation of deformable environment with haptic feedback on GPU

Control methods for guidance virtual fixtures in compliant human-machine interfaces

Parametric excitation based gait generation for ornithoid walking

NEMS-on-a-tip: Force sensors based on electromechanical coupling of individual multi-walled carbon nanotubes

Sub-pixel depth accuracy with a time of flight sensor using multimodal Gaussian analysis

Robust nonlinear control and stability analysis of a 7DOF model-scale helicopter under vertical wind gust

Improvement of dead reckoning accuracy of a mobile robot by slip detection and compensation using multiple model approach

Sequential Method of Analytical Potentials an approach for the biped robots dynamic gait generation

A rehabilitation walker with standing and walking assistance

Autonomous segmentation of Near-Symmetric objects through vision and robotic nudging

Analysis of methods for reducing line segments in maps: Towards a general approach

Motivation and competitive learning in a social robot

Synthesis of grasps with four contact points including at least three force-closure grasps of three contact points

Local Gaussian process regression for real-time model-based robot control

Optimal positioning of surveillance UGVs

An experimental robot system for power distribution line maintenance robots - System architecture and bolt insertion experiment -

Studying the influence of the chameleon effect on humans using an android

Is there any analogy between foot stability and dynamic grasp?

Estimating landmark locations from geo-referenced photographs

Energy management for indoor hovering robots

Liquid environment-adaptive IPMC fish-like robot using extremum seeking feedback

A relative information metric for vehicle following systems

Behavior recognition with ground reaction force estimation and its application to imitation learning

A framework for optimal gait generation via learning optimal control using virtual constraint

Robot learning by observation based on Bayesian networks and game pattern graphs for human-robot game interactions

Kinodynamic gait planning for full-body humanoid robots

Fault tolerant control of a bilateral teleoperated micromanipulation system

Anomaly detection algorithm based on life pattern extraction from accumulated pyroelectric sensor data

The UJI industrial robotics telelaboratory: Real-time vision and networking

From teleoperated to automatic blastocyst microinjections: Designing a new system from expert-controlled operations

Path-tracking control of a snake-like robot using screw drive mechanism

Attentive object feeding for supporting deskwork

Mutual development of behavior acquisition and recognition based on value system

Emotion recognition for human-machine communication

Inaccuracy of internal models in force fields and complementary use of impedance control

Autonomous vision-based navigation: Goal-oriented action planning by transient states prediction, cognitive map building, and sensory-motor learning

Policy gradient based Reinforcement Learning for real autonomous underwater cable tracking

Modeling of conditions where a puncture occurs during needle insertion considering probability distribution

Distributed regression over sensor networks: An support vector machine approach

Task guided attention control and visual verification in tea serving by the daily assistive humanoid HRP2JSK

Object-orientated registration method for surface inspection of automotive windshields

A graph matching technique for an appearance-based, visual SLAM-approach using Rao-Blackwellized Particle Filters

An automatic system for creating geo-referenced mosaics from MAV video

Development of leg-wheel hybrid quadruped “AirHopper” design of powerful light-weight leg with wheel

A method to generate stable, collision free configurations for tensegrity based robots

Conflict evaluation method for grid maps using sonar sensors

On the elasticity in the dynamic decoupling of hybrid force/velocity control in the contour tracking task

Quaternion representation for similarity transformations in visual SLAM

Development of wall climbing robotic system for inspection purpose

Sensing terrain parameters and the characteristics of vehicle-terrain interaction using the multimode locomotion system of a robot

Portable smart wrist rehabilitation device driven by rotational MR-fluid brake actuator for telemedecine applications

Mechanical design of odin, an extendable heterogeneous deformable modular robot

SAM : A 7-DOF portable arm exoskeleton with local joint control

Line following guidance control: Application to the Charlie unmanned surface vehicle

Performance difference of Bowden Cable relocated and non-relocated master actuators in virtual environment applications

Caging convex polygons with three fingers

Collision-free navigation based on people tracking algorithm with biped walking model

Decentralized coordination of autonomous AGVs in flexible manufacturing systems

3D multifingered caging: Basic formulation and planning

Modeling of natural human-robot encounters

Combining acoustic echo cancellation and adaptive beamforming for achieving robust speech interface in mobile robot

Designing of online simulation environment for development control algorithms for robots operating in rough terrains

Development of an android system integrated with sensor networks

A biomechanical analysis of the healthy and the pathological index finger during pinch function

Modeling and geometrical validation of a tele-echography robot

Multi-modal multi-user telepresence and teleaction system

Wheelchair support by a humanoid through integrating environment recognition, whole-body control and human-interface behind the user

Closed-form calibration of the Gantry-Tau parallel robot

First results on the design of high speed parallel robots in presence of uncertainty

Dexterous manipulation planning of objects with surface of revolution

Design of convex foot for efficient dynamic bipedal walking

Magnetically modified polymeric microsorter for on-chip particle manipulations

Synchronization and fault detection in autonomous robots

WiFi position estimation in industrial environments using Gaussian processes

Laser based intersection detection for reactive navigation in an underground mine

Predictive model for path planning by using k-near dynamic bridge builder and Inner Parzen Window

User adapted control of force feedback teleoperators: Evaluation and robustness analysis

Kinodynamic motion planning with hardware demonstrations

Iterated Unscented SLAM algorithm for navigation of an autonomous mobile robot

Deformable motion tracking of the heart surface

Visual recognition of grasps for human-to-robot mapping

Non-contact mesoscale manipulation using laser induced convection flows

Vision SLAM using omni-directional visual scan matching

Step climbing capability of a 4WD omnidirectional wheelchair

The synthesis of multi-channel adaptive variable structure system for the control of AUV

Peltier-based freeze-thaw connector for waterborne self-assembly systems

Listen to the parrot: Demonstrating the quality of online pitch and formant extraction via feature-based resynthesis

On-line planning of time-optimal, jerk-limited trajectories

Design, fabrication and characterization of compact force sensor using AT-cut quartz crystal resonators

Computationally efficient predictive adaptive control for robot control in dynamic environments and task domains

Active knee-release mechanism for passive-dynamic walking machines and walking cycle research

Weighted Action-coupled Semantic Network (wASN) for robot intelligence

Bilateral teleoperation with time delay using modified wave variables

Optimal design of a 6-dof parallel measurement mechanism integrated in a 3-dof parallel machine-tool

2D motion coordination enhancement for ‘Ataxia’ impaired users using a haptic device

Robotic micro-assembly of microparts using a piezogripper

Control system design and experimental verification of Capsubot

Intercontinental cooperative telemanipulation between Germany and Japan

Visual servo control of an underwater vehicle using a Laser Vision System

Motion control of omni-directional type cane robot based on human intention

SwisTrack - a flexible open source tracking software for multi-agent systems

Motion planning for car-parking using the slice projection technique

A strategy for tracking a ground target with a UAV

Control architecture design of a multi-functional service robot using the GSPN (Generalized-Stochastic Petri-Nets)

Motives as intrinsic activation for human-robot interaction

Modular robot based on 3 rotational DoF modules

Robust particle filter localization by sampling from non-corrupted window with incomplete map

Accurate and robust ego-motion estimation using expectation maximization

Simultaneous topological map prediction and moving object trajectory prediction in unknown environments

Development of a home-use automated container storage/retrieval system

Design and evaluation of two-channel-based sound source localization over entire azimuth range for moving talkers

Cross-modal body representation based on visual attention by saliency

Estimating arm motion and force using EMG signals: On the control of exoskeletons

Integrating dynamics into motion planning for humanoid robots

A performance sensitive hormone-inspired system for task distribution amongst evolving robots

Probabilistic mapping of dynamic obstacles using Markov chains for replanning in dynamic environments

Learning perceptual coupling for motor primitives

From neuroprosthetics to implanted FES control architecture

Robust extraction of shady roads for vision-based UGV navigation

R-cell: A module for a self-reconfigurable robotic system

Definition of a new static model of Parallel Kinematic Machines: Highlighting of overconstraint influence

Navigation of urban vehicle: An efficient visual memory management for large scale environments

Probabilistic navigation in dynamic environment using Rapidly-exploring Random Trees and Gaussian processes

Frame rate object extraction from video sequences with self organizing networks and statistical background detection

Assessment of Laser Range Finders in risky environments

The PEIS-Ecology project: Vision and results

Making hydraulic manipulators cleaner and safer: From oil to demineralized water hydraulics

Sensor-Arm — robotic manipulator for preventive maintenance and inspection of high-voltage transmission lines

Replanning: A powerful planning strategy for hard kinodynamic problems

Experimental results on smooth path tracking with application to pipe surveying on inexpensive AUV

Aligning point cloud views using persistent feature histograms

Modularized in-pipe robot capable of selective navigation Inside of pipelines

Lumen detection for capsule endoscopy

Bayesian state estimation and behavior selection for autonomous robotic exploration in dynamic environments

Communication using pheromone field for multiple robots

Functional object mapping of kitchen environments

Interactive cell injection simulation based on 3D biomechanical tensegrity model

Coordinated motion control of Underwater Vehicle-Manipulator System with minimizing restoring moments

Detection of screws on metal-ceiling structures for dismantling tasks in buildings

Building maps of large environments using splines and geometric analysis

Target speech detection and separation for humanoid robots in sparse dialogue with noisy home environments

Dynamic acyclic motion from a planar contact-stance to another

Motion tasks for robot manipulators subject to joint velocity constraints

Locomotion and turning patterns of a peristaltic crawling earthworm robot composed of flexible units

Towards an automatic approach for ubiquitous robotic services composition

Robust shape recovery for sparse contact location and normal data from haptic exploration

Global urban localization of outdoor mobile robots using satellite images

Robotic assembly of complex planar parts: An experimental evaluation

The dynamic characteristics of LIPCA and its application for mimicking insect flapping motion

Using planar facets for stereovision SLAM

Mechatronic design of a transradial cybernetic hand

Time-optimal UAV trajectory planning for 3D urban structure coverage

A quantitative measure for the navigability of a mobile robot using rough maps

Automatically smoothing camera pose using cross validation for sequential vision-based 3D mapping

An experimental study of station keeping on an underactuated ASV

An image-guided robot for needle insertion in small animal. Accurate needle positioning using visual servoing.

Transition-based RRT for path planning in continuous cost spaces

Stable limit cycle generation for underactuated mechanical systems, application: Inertia wheel inverted pendulum

Learning equivalent action choices from demonstration

An image-to-map loop closing method for monocular SLAM

The latest generation Whegs™ robot features a passive-compliant body joint

Estimation of contact forces in an inverted pendulum robot

Experimental study of limit cycle and chaotic controllers for the locomotion of centipede robots

HELIOS IX tracked vehicle for urban search and rescue operations: Mechanical design and first tests

A generic architecture of modular embedded system for miniature mobile robots

Learning task specific plans through sound and visually interpretable demonstrations

Simulation and analysis of a passive pitch reversal flapping wing mechanism for an aerial robotic platform

Swarming particles with multi-feature model for free-selected object tracking

Active rough shape estimation of unknown objects

Real-time implementation of blind spatial subtraction array for hands-free robot spoken dialogue system

Variable impedance control of meal assistance robot using potential method

Vibration suppression control of a flexible arm using image features of unknown objects

Experimental study on droplet based hybrid microhandling using high speed camera

Development of on-line simulation system for multi camera based wide field of view display

Compensation of physiological motion using linear predictive force control

ABLE, an innovative transparent exoskeleton for the upper-limb

Hand-eye self-calibration of an ultrasound image-based robotic system

Design and acceptability assessment of a new reversible orthosis

Heuristic search planning to reduce exploration uncertainty

Depth estimation from the color drift of a route panorama

Online ZMP sampling search for biped walking planning

Delay-robust transparent bilateral teleoperation control design

Energy based path planning for a novel cabled robotic system

Learning robot motion control with demonstration and advice-operators

Dynamic correlation matrix based multi-Q learning for a multi-robot system

Viability and predictive control for safe locomotion

Feature group matching for appearance-based localization

3DCLIMBER: A climbing robot for inspection of 3D human made structures

Optical flow-based slip and velocity estimation technique for unmanned skid-steered vehicles

Learning predictive terrain models for legged robot locomotion

Task maps in humanoid robot manipulation

Mixed-load transportation scheduling in a floor warehouse environment

A parallel compliant meso-manipulator for finger rehabilitation treatments: Kinematic and dynamic analysis.

Applying viscoelastic contact modeling to grasping task: An experimental case study

Detecting and monitoring time-related abnormal events using a wireless sensor network and mobile robot

Manipulation and recognition of objects incorporating joints by a humanoid robot for daily assistive tasks

Control strategies for a multi-legged hopping robot

Augmented autonomy: Improving human-robot team performance in Urban search and rescue

Occlusion-free path planning with a probabilistic roadmap

Tether monitoring techniques for environment monitoring, tether following and localization of autonomous mobile robots

Real-time motion planning of multiple formations in virtual environments: Flexible virtual structures and continuum model

Spatial macroscopic models of a bio-inspired robotic swarm algorithm

Admittance control of a human centered 3 DOF robotic arm using Differential Elastic Actuators

Online user modeling with Gaussian Processes for Bayesian plan recognition during power-wheelchair steering

A formation control framework based on Lyapunov approach

Producing distributed vibration by a single piezoelectric ceramics for a small tactile stimulator

Maneuverability performance of tracked vehicles on soft terrains

An impulse-momentum approach to swing-up control of the pendubot

Screenbot: Walking inverted using distributed inward gripping

Robot-assisted intelligent 3D mapping of unknown cluttered search and rescue environments

A foveated passive UHF RFID system for mobile manipulation

Computational efficient algorithms for operational space formulation of branching arms on a space robot

Friction observer and compensation for control of robots with joint torque measurement

Optimal paths in a constrained image plane for purely image-based parking

Design and modeling of a protein based nanoGripper

Cost based planning with RRT in outdoor environments

Efficient human hand kinematics for manipulation tasks

Control of omni-directional mobile platform with four driving wheels using torque redundancy

Online walking gait generation with adaptive foot positioning through Linear Model Predictive control

Digital representation of everyday objects in a robot ecology via proxies

Approximating information content for active sensing tasks using the unscented transform

Analysis and benchmarking of a Whegs™ robot in USARSim

Design and generation of DEP force for assembly of CNT-based nano devices

Segmenting acoustic signal with articulatory movement using Recurrent Neural Network for phoneme acquisition

Deformations of general parametric shells: Computation and robot experiment

Efficient and effective grasping of novel objects through learning and adapting a knowledge base

Traction estimation and control for Mobile Robots using the wheel slip velocity

Silicone made contractile dielectric elastomer actuators inside 3-Tesla MRI environment

Design and performance of micromolded plastic butterfly wings on butterfly ornithopter

Combined wind speed and angle control in a virtual environment using a static observer

Adaptive object slip prevention for prosthetic hands through proportional-derivative shear force feedback

Acceleration compensation for vehicle based telesurgery on earth or in space

In-situ robust nanorobotic resistance spot welding of InGaAs/GaAs helical nanobelts without pretreatment

Tactile sensing using a novel air cushion sensor: A feasibility study

Smooth Nearness-Diagram Navigation

Motion primitives for a tumbling robot

Scaling effects in multi-robot control

Analysis of Relationship between limb length and joint load in quadruped walking on the slope

Motion planning for urban driving using RRT

Redundancy resolution of a 7 DOF haptic interface considering collision and singularity avoidance

Covering hostile terrains with partial and complete visibilities: On minimum distance paths

Design of a semi-passive heavy-duty mobile robotic system for automated assembly inside an aircraft body

Impedance control for variable stiffness mechanisms with nonlinear joint coupling

Simulation of grasping deformable objects with a virtual human hand

On-line convex optimization based solution for mapping in VSLAM

Wheeled locomotion for payload carrying with modular robot

Multi-scale adaptive sampling for mapping forest fires

Dynamic modeling of a basilisk lizard inspired quadruped robot running on water

Mutual assistance between speech and vision for human-robot interaction

Fast color/texture segmentation for outdoor robots

Improving sparse laser scan alignment with Virtual Scans

Universal web interfaces for robot control frameworks

Aerial robot piloted in steep relief by optic flow sensors

Intelligent cooperative behavior control of multiple partner robots

Path planning and trajectory generation using multi-rate predictive Artificial Potential Fields

Decoupled control of the high mobility robot Hylos based on a dynamic stability margin

Design and assembling of a magneto-inertial wearable device for ecological behavioral analysis of infants

Generalizing metamodules to simplify planning in modular robotic systems

The memory game: Creating a human-robot interactive scenario for ASIMO

Influence of zoom selection on a Kalman filter

Deep sea underwater robotic exploration in the ice-covered Arctic ocean with AUVs

A sequential method for the singularity free workspace design of a planar 3-arm parallel robot

Improving Monte Carlo Localization in sparse environments using structural environment information

Fabrication of bucky gel actuator/sensor devices based on printing method

Robust vision-based autonomous navigation against environment changes

Grasp space generation using sampling and computation of independent regions

Efficient feature tracking for scene recognition using angular and scale constraints

Online and markerless motion retargeting with kinematic constraints

Gaze contingent articulated robot control for robot assisted minimally invasive surgery

Detecting obstacles and drop-offs using stereo and motion cues for safe local motion

Cooperative navigation using environment compliant robot formations

Velocity control of a hybrid quadruped bounding robot

Multimodal detection and tracking of pedestrians in urban environments with explicit ground plane extraction

Thermal control of electrical motors for high-power humanoid robots

A new approach based-on advanced adaptive digital PLL for improving the resolution and accuracy of magnetic encoders

Optimal Functional Electrical Stimulation patterns synthesis for knee joint control

Robots at home: Understanding long-term human-robot interaction

The Common State Filter for SLAM

A robotic catapult based on the closed elastica with a high stiffness endpoint and its application to swimming tasks

Multi sensor map building based on sparse linear equations solver

Stability analysis of a dynamic inversion based pitch rate controller for an unmanned aircraft

Avoiding negative depth in inverse depth bearing-only SLAM

Joint torque-velocity pair based manipulability for grasping system

Motion planning in urban environments: Part I

Determining the camera to robot-body transformation from planar mirror reflections

A probabilistic B-spline motion planning algorithm for unmanned helicopters flying in dense 3D environments

In vivo microscope image stabilization through 3-D motion compensation using a contact-type sensor

Motion planning in urban environments: Part II

A geometrical approach to inverse kinematics for continuum manipulators

Information-driven 6D SLAM based on ranging vision

Optimal distributed planning for self assembly of modular manipulators

Using reference objects to improve vision-based bearing measurements

Stable and quick standing-sitting motion of I-PENTAR by whole-body motion with force control

Morpho: A self-deformable modular robot inspired by cellular structure

Museum guide robot with three communication modes

Human demonstration data for fast task teaching

The application of particle swarm optimization and maneuver automatons during non-Markovian motion planning for air vehicles performing ground target search

Action planner of hybrid leg-wheel robots for lunar and planetary exploration

Reconfigurable magnetic-coupling thrusters for agile AUVs

An active tactile sensor using fluid for body tissue

A sensor-independent approach to RBPF SLAM - Map Match SLAM applied to visual mapping

Scalable Bayesian human-robot cooperation in mobile sensor networks

Underactuated point stabilization using predictive models with application to marine vehicles

Consideration of weight discriminative powers for various weight changes using a haptic device

Blended local planning for generating safe and feasible paths

High-speed throwing motion based on kinetic chain approach

Sensor-based Exploration for general robotic systems

An energy saving control method of robot motions based on adaptive stiffness optimization - cases of multi-frequency components -

Tweezers type tool manipulation by a multifingered hand using a high-speed visusal servoing

A new mobility-aid vehicle with a unique turning system

Real-time stereo visual odometry for autonomous ground vehicles

Realization of large joint movement while standing by a musculoskeletal humanoid using its spine and legs coordinately

RoACH: An autonomous 2.4g crawling hexapod robot

High-dimensional underactuated motion planning via task space control

On the boundary conditions in modeling of human-like reaching movements

Adaptive control for high-fidelity haptic interaction with virtual environments

A visual-servo-based assistant system for unmanned helicopter control

Model based robot localization using onboard and distributed laser range finders

Compliant motion control for a humanoid robot in contact with the environment and humans

Robust material discrimination by a soft anthropomorphic finger with tactile and thermal sense

Delayed resampling in a Rao-Blackwellized particle filtering SLAM for consistent loop closures

Enabling autonomous capabilities in underwater robotics

Micro hydraulic system using slim artificial muscles for a wearable haptic glove

Analysis of nailing task motion for a humanoid robot

Fast feature detection and stochastic parameter estimation of road shape using multiple LIDAR

A perception mechanism for supporting autonomous intersection handling in urban driving

Overcoming sensor noise for low-tolerance autonomous assembly

Reducing influence of robot’s motion on tactile sensor based on partially linear model

Developing a transient model for squid inspired thrusters, and incorporation into underwater robot control design

Homing in scale space

Effective and efficient locomotion for millimeter-sized microrobots

Consensus-based task sequencing in decentralized multiple-robot systems using local communication

Motion recognition and generation by combining reference-point-dependent probabilistic models

Probabilistic UHF RFID tag pose estimation with multiple antennas and a multipath RF propagation model

Shape-guided superpixel grouping for trail detection and tracking

A robotic KANSEI communication system based on emotional synchronization

Fall prevention control of passive intelligent walker based on human model

A simple 3D straight-legged passive walker with flat feet and ankle springs

Repetitive grasping with anthropomorphic skin-covered hand enables robust haptic recognition

Pose estimation of a mobile robot on a lattice of RFID tags

A soft actuator based expressive mask for facial paralyzed patients

Design and evaluation of low-profile micro ultrasonic motors using sector shaped piezoelectric vibrators

Biomimetic grasp planning for cortical control of a robotic hand

Spatial scaffolding cues for interactive robot learning

ARRIpede: A stick-slip micro crawler/conveyor robot constructed via 2 ½D MEMS assembly

Efficiently communicating map updates with the pose graph

RRT-SLAM for motion planning with motion and map uncertainty for robot exploration

A modular software architecture for simulating mechanical systems involving Coulomb friction integrable by the Runge-Kutta method

Motivation oriented action selection for understanding dynamics of objects

Trafficability analysis for lunar/planetary exploration rover using Thrust-Cornering Characteristic Diagram

A stochastic response surface approach to statistical prediction of mobile robot mobility

GP-BayesFilters: Bayesian filtering using Gaussian process prediction and observation models

Control of Wearable Walking Helper on slope based on integration of acceleration and GRF information

The glove puppet robot: X-puppet

Development of swing-slip locomotion for no-legged primevaloids

Contact force estimation for backdrivable robotic manipulators with coupled friction

Learning affordance for semantic robots using ontology approach

Geometric proto-symbol manipulation towards language-based motion pattern synthesis and recognition

Dynamic lifting by whole body motion of humanoid robots

An optical external localization system and applications to indoor tracking

Self-localization with ultrasonic sensor array

Structuring information on people and environment for supporting robotic services

Wearable handling support system for paralyzed patient

A car transportation system by multiple mobile robots - iCART -

Identifying a moving object with an accelerometer in a camera view

Design of a quasi-passive knee exoskeleton to assist running

Mapping and planning under uncertainty in mobile robots with long-range perception

Exploiting robot redundancy in collision detection and reaction

Monocular visual odometry in urban environments using an omnidirectional camera

Computational aspects in actuation and guidance mechanism for wireless active capsule endoscope

An executive system for cognitive agents

Development of a multi-DOF exoskeleton based machine for injured fingers

Experimental verification of gait transition from quadrupedal to bipedal locomotion of an oscillator-driven biped robot

Estimation of group attention for automated camerawork

Traffic interaction in the urban challenge: Putting boss on its best behavior

Vertical ladder climbing motion with posture control for multi-locomotion robot

OpenRDK: A modular framework for robotic software development

Cross-country obstacle detection: Space-variant resolution and outliers removal

Learning in dynamic environments with Ensemble Selection for autonomous outdoor robot navigation

A clickable world: Behavior selection through pointing and context for mobile manipulation

Deep belief net learning in a long-range vision system for autonomous off-road driving

Learning meaningful interactions from repetitious motion patterns

Study on wheeled forms of lunar robots for traversing soft terrain

Differentially constrained motion replanning using state lattices with graduated fidelity

The designs and motions of a shoulder structure with a spherical thorax, scapulas and collarbones for humanoid “Kojiro”

Apprenticeship learning for motion planning with application to parking lot navigation

Crawler vehicle with circular cross-section unit to realize sideways motion

Self-sustaining rhythmic arm motions using neural oscillators

Force sensor-less interaction force control in the de-burring task using dual-arm manipulation

Motion generation for clutch assembly by integration of multiple existing policies

Cooperative localization of multiple robots with Constraint Propagation technique

Neighborhood denoising for learning high-dimensional grasping manifolds

On-chip magnetic 3D soft microactuators made by gray-scale lithography

Gait transition by tuning muscle tones using pneumatic actuators in quadruped locomotion

Structure from behavior in autonomous agents

Responses to a social robot by elderly users

Tribolon: Water based self-assembly robot with freezing connector (video)

A table soccer game recorder

Dynamic analysis and control of a robotic pipe crawler

Backstepping based nonlinear PI for attitude stabilisation of a quadrotor: From theory to experiment

An Artificial Neural Network approach for the obstacle avoidance of redundant robot manipulators

Solving navigation tasks with learned Teleo-Reactive Programs

Utilizing parallax information for collision avoidance in dynamic environments

Hardware-based parallel computing for real-time haptic rendering of deformable objects

Local line segments as primitives for scene understanding

Efficient color feature extraction and matching for motion estimation and mapping

Monocular vision obstacles detection for autonomous navigation

Neuro-fuzzy control of a biped robot able to be subjected to an external pushing force in the sagittal plane

Control of a finger-arm robot by employing the steepest ascent method to modulate the finger’s manipulability

Heading control design based on self-oscillation identification method applied to Charlie USV

A liquid rate gyroscope using electro-conjugate fluid - practical design and characterization -

3D object modeling and segmentation using edge points with SIFT descriptors

Design of common environmental information for door closing tasks with various robots

Effects of relative humidity on capillary force and applicability of these effects in micromanipulation

Wireless communication for secure positioning in multi robot formations of non holonomic ground vehicles

A human-inspired pole climbing robot

A sufficient condition and a new quality criterion for force-closure grasps synthesis of 3D objects

Feeding of submillimeter-sized microparts along an asymmetric surface using only horizontal vibration: Evaluation of micro-fabricated surface using femtosecond laser process

Force controlled upper-limb powered exoskeleton for rehabilitation

Robotic implementation of biological Bayesian models for visuo-inertial image stabilization and gaze control

Using fuzzy RFID modelling and monocular vision for mobile robot global localization

Swarm formation control utilizing ground and aerial unmanned systems

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

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

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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)

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

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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

Incremental vision-based topological SLAM

Content Provider	IEEE Xplore Digital Library
Author	Angeli, A. Doncieux, S. Meyer, J.-A. Filliat, D.
Copyright Year	2008
Description	Author affiliation: Univ. Pierre et Marie Curie, Paris (Angeli, A.; Doncieux, S.; Meyer, J.-A.)
Abstract	In robotics, appearance-based topological map building consists in infering the topology of the environment explored by a robot from its sensor measurements. In this paper, we propose a vision-based framework that considers this data association problem from a loop-closure detection perspective in order to correctly assign each measurement to its location. Our approach relies on the visual bag of words paradigm to represent the images and on a discrete Bayes filter to compute the probability of loop-closure. We demonstrate the efficiency of our solution by incremental and real-time consistent map building in an indoor environment and under strong perceptual aliasing conditions using a single monocular wide-angle camera.
Starting Page	1031
Ending Page	1036
File Size	752186
Page Count	6
File Format	PDF
ISBN	9781424420575
DOI	10.1109/IROS.2008.4650675
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-09-22
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Visualization Cameras Feature extraction Robots Vocabulary Image edge detection Evolution (biology)
Content Type	Text
Resource Type	Article

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