Industrial robots are programmed to repeat a sequence of well-defined tasks, e.g. deburring, cutting and welding. The production cycle time is directly influenced by the task order as well way trajectories linking this tasks generated. In letter, we present an optimization approach that minimizes overall movements duration robots. We propose fast algorithm generates sequenced near-optimal solution for Multi-Robotic Task Sequencing Problem. model problem in form new min (sum-max) Multiple...

Real-time globally consistent GPS tracking is critical for an accurate localization and crucial applications such as autonomous navigation or multi-robot mapping. However, under challenging environment conditions indoor/outdoor transitions, signals are partially available not over time. In this paper, a real-time system continuously locating emergency response agents in presented. A cooperative method based on Laser-Visual-Inertial (LVI) sensors achieved by communicating optimization events...

In this paper, we consider the problem of controlling a 6 DOF holonomic robot and nonholonomic mobile from projection 3-D straight lines in image plane central catadioptric systems. A generic interaction matrix for is derived using an unifying imaging model valid entire class cameras. This result exploited to design image-based control law that allows us robotic arm. Then, projected are robot. We show as when considering arm, objectives mainly based on feature local asymptotic convergence...

This paper introduces a Wearable SLAM system that performs indoor and outdoor in real time. The related project is part of the MALIN challenge which aims at creating to track emergency response agents complex scenarios (such as dark environments, smoked rooms, repetitive patterns, building floor transitions doorway crossing problems), where GPS technology insufficient or inoperative. proposed fuses different technologies compensate lack robustness each, while estimating pose individually....

This letter presents an image-based approach to simultaneously estimate the lateral position of a powered-two-wheeled vehicle on road, its steering behavior and predict road curvature ahead motorcycle. is based inverse perspective mapping technique combined with lanes detection algorithm capable detecting straight curved lanes. Then, clothoid model used extract pertinent information from detected markers. Finally, performance proposed illustrated through simulations carried out well-known...

This paper extends the recent work proposed in [21]. In this work, it has been noted that three visual features (to control degrees of freedom) obtained from spherical projection 3D spheres allows nice decoupling properties and global stability. However, even if such an approach is theoretically attractive, limited by a major practical issue since objects have to be observed while only freedom can controlled. paper, we show similar observing set points. The basic idea build virtual sphere...

This paper combines the reactive collision avoidance methods with image-based visual servoing control for mobile robot navigation in an indoor environment. The proposed strategy allows to reach a desired position, described by natural target, among unknown obstacles. While avoids obstacles, camera could lose its which makes fail. We propose this deal loss of features taking advantage odometric data sensing. Obstacles are detected laser range finder and their boundaries modeled using B-spline...

In the automotive industry, several robots are required to simultaneously carry out welding sequences on same vehicle. Coordinating and assigning points between is a manual difficult phase that needs be optimized using automatic tools. The cycle time of cell strongly depends different robotic factors such as task allocation among robots, configuration solutions obstacle avoidance. Moreover, key aspect, often neglected in state art, define strategy solve sequencing with an effective...

Motivated by the growing interest for omnidirectional sensors on robotic applications and particularly vision-based control, we present a new framework to handle in visual servoing scheme projection of line features into image plane central catadioptric camera. As it is well known, 3D camera conic curve. We propose use polar center with respect this curve define input control scheme. The observations obtained from lines lead minimal representation projected lines. An efficient based only two...

This paper is related to the vision-based control of parallel robots. Indeed, a method proposed estimate reduced set kinematic parameters appearing in such control. To do so, it extends linear method, obtained for perspective camera, case an omnidirectional using existing unifying projection model. The remains linear, once adequate information extracted from images, and does not require any calibration pattern. It works both with cameras, which underlined by reported experiments

This paper presents a use case for SLAM techniques applied to real time localization and detailed mapping emergency response personnel in non cooperative environments. Such environments tend defeat conventional approaches, therefore we must ensure continuous operation of our regardless the difficulties encountered (lack GPS signals, lighting conditions, smoke, etc.). The proposed system fuses two algorithms, LiDAR-based camera-based. Since uses dense 3D measurements, it is well suited...

Omnidirectional cameras are commonly used in computer vision and robotics. Their main advantage is their wide field of view which allows them to acquire a 360 degree the scene with only one sensor single shot. However, few studies have investigated human detection problem using this kind cameras. In paper, we propose extend conventional approach for perspective images based on Histogram Oriented Gradients (HOG) apdapted spherical issue. Our uses Riemannian manifolds order adapt gradient...

This paper presents an image-based approach to estimate the motorcycle roll angle. The algorithm estimates directly absolute road plane by means of a basic monocular camera. that estimated angle is not affected bank which often problem for vehicle observation and control purposes. For each captured image, uses numeric loop based on some simple knowledge geometry. iteration, bird-eye-view generated with inverse perspective mapping technique. Then, marker filter associated well-known clothoid...

This paper presents new schemes to estimate 3D rotation from spherical images. Unlike existing approaches, moment properties are exploited obtain a closed form solution without iteratively mimimizing cost function. Actually, three methods using moments proposed: two of them can be classified as dense while the third one is hybrid combining geometrical features with ones. Experimental results both synthetic images and acquired catadioptric cameras different scenarios show effectiveness our approach.

RGB-D sensor, like low cost Kinect, are widely used in robotics applications. Obstacle Avoidance (OA), Simultaneous Localization And Mapping (SLAM), Mobile Object Tracking (MOT) all needing accurate information about the position of objects environment. 3D cameras really convenient to realize those tasks but as sensors, they have be completed by other sensors : cameras, laser range finders, US or IR telemeters. In order exploit data a same algorithm, we express these common reference frame....

This paper presents a hybrid decoupled vision-based control scheme valid for the entire class of central catadioptric sensors (including conventional perspective cameras). First, we consider structure from motion problem using imaged 3D points. Geometrical relationships are exploited to enable partial Euclidean reconstruction by decoupling interaction between translation and rotation components homography matrix. The information extracted then used design law which allow us fully decouple...

This paper deals with the problem of 3D human tracking in catadioptric images using particle-filtering framework. While traditional perspective are well exploited, only a few methods have been developed for vision, detection or problems. We propose to extend pose estimation case cameras sensors. In this paper, we develop an original likelihood functions based, on one hand, geodetic distance spherical space SO3 and, other mapping between silhouette and projected model. These combined particle...

Image-based servoing is a local control solution, it requires thus the definition of intermediate subgoals in sensor space when robot initial position far away from desired one. This issue crucial using omnidirectional cameras since very large motions can be achieved. paper addresses problem generating smooth trajectories image entire class central (including conventional perspective cameras). The model observed target assumed to unknown. First geometrical relationships between imaged points...