Proceedings 199 IEEE/IEEJ/JSAI International Conference on Intelligent Transportation Systems (Cat. No.99TH8383), 1999
This paper describes two methods for feature extraction. The goal is to interpret the data obtain... more This paper describes two methods for feature extraction. The goal is to interpret the data obtained from sonar measurements of the robot's environment as geometric map primitives. The extracted primitives can be used to update the robot position and the global map. This is the process how the robot can explore an unknown environment. The first algorithm gathers sonar measurements into sensor-based map and then using computer-vision techniques and morphological operations extracts geometric description of detected obstacles. The second method is started whenever the border tracking algorithm has been activated. This method uses raw sonar data as the input while obstacle border is robustly detected by the border tracking process. The algorithms have been verified with an experimental mobile robot at the Czech Technical University
Proceedings 27th EUROMICRO Conference. 2001: A Net Odyssey, 2001
Addresses the problem of software lifecycle, aspects and application of formal methods in functio... more Addresses the problem of software lifecycle, aspects and application of formal methods in functional specification, design and verification of real-time software systems in safety-critical applications. The target application aims to verify the critical parts of the designed interlocking system. The higher safety, reliability and minimized costs of the design can be achieved using the presented techniques. An asynchronous data-flow language, Lustre has been used to verify safety properties of selected parts of the system. The introduced test-case has been implemented on distributed architecture of multiple single-chip microprocessors
Proceedings of the First Euromicro Workshop on Advanced Mobile Robots (EUROBOT '96), 1996
Making-use of multiple sensors is crucial for improvement of mobile robot navigation performance.... more Making-use of multiple sensors is crucial for improvement of mobile robot navigation performance. The contribution introduces a problem of integrating noisy range-data by data fusion on signal/pixel level. This is performed for multiple sensors and different sensor positions into a common description of the environment. The paper deals with grid models, which are used as a low-level representations of sonar
Database and Expert Systems Applications. 8th International Conference, DEXA '97. Proceedings, 1997
Making-use of multiple sensors is crucial for improvement of mobile robot navigation performance.... more Making-use of multiple sensors is crucial for improvement of mobile robot navigation performance. The contribution introduces a problem of integrating noisy range-data by data fusion on signal/pixel level. This is performed for multiple sensors and different sensor positions ...
AbstractAccurate models of the environment are a crucial re-quirement for autonomous mobile robo... more AbstractAccurate models of the environment are a crucial re-quirement for autonomous mobile robots. The process of how to acquire knowledge about the operating environment is one of the most challenging problems in this research area. The quality of the model depends on ...
p ]This paper deals with methods of creating entities used for a geometric description of robot e... more p ]This paper deals with methods of creating entities used for a geometric description of robot environment. These entities (primitives) are extracted from scene-depth measurements gathered by a mobile robot sensor system. The overall goal is to achieve efficient data fusion through extraction of specific geometric features - boundaries of obstacles - from sensor data. Although the geometric level of
Proceedings 199 IEEE/IEEJ/JSAI International Conference on Intelligent Transportation Systems (Cat. No.99TH8383), 1999
This paper describes two methods for feature extraction. The goal is to interpret the data obtain... more This paper describes two methods for feature extraction. The goal is to interpret the data obtained from sonar measurements of the robot's environment as geometric map primitives. The extracted primitives can be used to update the robot position and the global map. This is the process how the robot can explore an unknown environment. The first algorithm gathers sonar measurements into sensor-based map and then using computer-vision techniques and morphological operations extracts geometric description of detected obstacles. The second method is started whenever the border tracking algorithm has been activated. This method uses raw sonar data as the input while obstacle border is robustly detected by the border tracking process. The algorithms have been verified with an experimental mobile robot at the Czech Technical University
Proceedings 27th EUROMICRO Conference. 2001: A Net Odyssey, 2001
Addresses the problem of software lifecycle, aspects and application of formal methods in functio... more Addresses the problem of software lifecycle, aspects and application of formal methods in functional specification, design and verification of real-time software systems in safety-critical applications. The target application aims to verify the critical parts of the designed interlocking system. The higher safety, reliability and minimized costs of the design can be achieved using the presented techniques. An asynchronous data-flow language, Lustre has been used to verify safety properties of selected parts of the system. The introduced test-case has been implemented on distributed architecture of multiple single-chip microprocessors
Proceedings of the First Euromicro Workshop on Advanced Mobile Robots (EUROBOT '96), 1996
Making-use of multiple sensors is crucial for improvement of mobile robot navigation performance.... more Making-use of multiple sensors is crucial for improvement of mobile robot navigation performance. The contribution introduces a problem of integrating noisy range-data by data fusion on signal/pixel level. This is performed for multiple sensors and different sensor positions into a common description of the environment. The paper deals with grid models, which are used as a low-level representations of sonar
Database and Expert Systems Applications. 8th International Conference, DEXA '97. Proceedings, 1997
Making-use of multiple sensors is crucial for improvement of mobile robot navigation performance.... more Making-use of multiple sensors is crucial for improvement of mobile robot navigation performance. The contribution introduces a problem of integrating noisy range-data by data fusion on signal/pixel level. This is performed for multiple sensors and different sensor positions ...
AbstractAccurate models of the environment are a crucial re-quirement for autonomous mobile robo... more AbstractAccurate models of the environment are a crucial re-quirement for autonomous mobile robots. The process of how to acquire knowledge about the operating environment is one of the most challenging problems in this research area. The quality of the model depends on ...
p ]This paper deals with methods of creating entities used for a geometric description of robot e... more p ]This paper deals with methods of creating entities used for a geometric description of robot environment. These entities (primitives) are extracted from scene-depth measurements gathered by a mobile robot sensor system. The overall goal is to achieve efficient data fusion through extraction of specific geometric features - boundaries of obstacles - from sensor data. Although the geometric level of
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