A5073496345- Robotic Path Planning Algorithms
- Robotics and Sensor-Based Localization
- Robotic Locomotion and Control
- Vehicle Routing Optimization Methods
- Modular Robots and Swarm Intelligence
- Robot Manipulation and Learning
- Metaheuristic Optimization Algorithms Research
- Prosthetics and Rehabilitation Robotics
- Advanced Vision and Imaging
- Advanced Image and Video Retrieval Techniques
- Robotics and Automated Systems
- Autonomous Vehicle Technology and Safety
- Optimization and Search Problems
- Indoor and Outdoor Localization Technologies
- UAV Applications and Optimization
- Guidance and Control Systems
- Air Traffic Management and Optimization
- Computational Geometry and Mesh Generation
- Advanced Manufacturing and Logistics Optimization
- Muscle activation and electromyography studies
- Robotic Mechanisms and Dynamics
- Data Management and Algorithms
- Transportation and Mobility Innovations
- Anomaly Detection Techniques and Applications
- Control and Dynamics of Mobile Robots
Czech Technical University in Prague
2016-2025
University of Chemistry and Technology, Prague
2006
In this paper, we present a small, light-weight, low-cost, fast and reliable system designed to satisfy requirements of relative localization within swarm micro aerial vehicles. The core the proposed solution is based on off-the-shelf components consisting Caspa camera module Gumstix Overo board accompanied by developed efficient image processing method for detecting black white circular patterns. Although idea roundel recognition simple, exhibits estimation position pattern up 30 fps using...
In this letter, we address the orienteering problem (OP) for curvature constrained vehicle. For a given set of target locations, each with associated reward, OP stands to find tour from prescribed starting location ending such that it maximizes collected rewards while length is within travel budget constraint. The addressed generalization Euclidean called Dubins Orienteering Problem (DOP) in which reward collecting has satisfy limited turning radius DOP consists not only selecting most...
The self-organizing map (SOM) is an unsupervised learning technique providing a transformation of high-dimensional input space into lower dimensional output space. In this paper, we utilize the SOM for traveling salesman problem (TSP) to develop solution autonomous data collection. Autonomous collection requires gathering from predeployed sensors by moving within limited communication radius. We propose new growing that adapts number neurons during learning, which also allows our approach...
This letter concerns optimal power transmission line inspection formulated as a proposed generalization of the traveling salesman problem for multi-route one-depot scenario. The is an vehicle with limited travel budget. Therefore, solution can be composed multiple runs to provide full coverage given lines. Besides, indicates how many vehicles perform in single run. solved by Integer Linear Programming (ILP) formulation, which is, however, very computationally demanding. computational...
We present an implementation of the Speeded Up Robust Features (SURF) on a Field Programmable Gate Array (FPGA). The SURF algorithm extracts salient points from image and computes descriptors their surroundings that are invariant to scale, rotation illumination changes. interest point detection feature descriptor extraction is often used as first stage in autonomous robot navigation, object recognition tracking etc. However, computationally demanding therefore can't be systems with limited...
E-learning is a modern and effective approach for training in various areas at different levels of education. This paper gives an overview SyRoTek, e-learning platform mobile robotics, artificial intelligence, control engineering, related domains. SyRoTek provides remote access to set fully autonomous robots placed restricted area with dynamically reconfigurable obstacles, which enables solving huge variety problems. A user able the real time by their own developed algorithms as well being...
Abstract This article describes a simple monocular navigation system for mobile robot based on the map‐and‐replay technique. The presented method is robust and easy to implement does not require sensor calibration or structured environment, its computational complexity independent of environment size. can navigate while sensing only one landmark at time, making it more than other approaches. aforementioned properties allow even low‐cost robots effectively act in large outdoor indoor...
In this paper, we discuss the problem of goal assignment in multi-robot exploration task. The presented work is focused on underlying optimal task allocation that addressed by three state-of-the art approaches. addition, propose a novel strategy considering all current goals (not only immediate goal) for each robot, which leads to multiple traveling salesman formulation. Although strongly NP-hard, show its approximate solution computationally feasible and overall requirements are competitive...
This letter concerns surveillance planning for an unmanned aerial vehicle (UAV) that is requested to periodically take snapshots of areas interest by visiting a given set waypoint locations in the shortest time possible. The studied problem can be considered as variant combinatorial traveling salesman which trajectories between waypoints respect kinematic constraints UAV. Contrary existing formulation curvature-constrained vehicles known Dubins problem, herein addressed motivated multirotor...
In this paper, we report on the deployment of combination commercially available off-the-shelf embedded visual localization system and RGB-D camera in an autonomous robotic exploration performed by small hexapod walking robot. Since multi-legged robot is capable traversing rough terrains, addressed problem to create a map unknown environment while simultaneously performing traversability assessment explored efficiently safely reach next navigational waypoints. The proposed targeted run...
We present a field report of the CTU-CRAS-NORLAB team from Subterranean Challenge (SubT) organized by Defense Advanced Research Projects Agency (DARPA). The contest seeks to advance technologies that would improve safety and efficiency search-andrescue operations in GPS-denied environments. During rounds, teams mobile robots have find specific objects while operating environments with limited radio communication, e.g., mining tunnels, underground stations or natural caverns. heterogeneous...
In this paper, we address the problem of optimal path planning to visit a set regions by Dubins vehicle, which is also known as Traveling Salesman Problem with Neighborhoods (DTSPN). This can be tackled transformation other variants TSP or evolutionary algorithms. We DTSPN find given sequence and propose simple iterative optimization procedure visiting regions. The proposed approach allows efficiently solve based on presented comparison existing approaches, algorithm provides solutions...
This letter concerns a variant of the orienteering problem (OP) that arises from multi-goal data collection scenarios where robot with limited travel budget is requested to visit given target locations in an environment obstacles. We call introduced OP physical (POP). The POP sets out determine feasible, collision-free, path maximizes collected reward subset and does not exceed budget. combines motion planning combinatorial optimization multiple locations. proposed solution based on variable...
Performance of exploration strategies strongly depends on the process determination a next robot goal. Current approaches define different utility functions how to evaluate and select possible goal candidates. One mostly used evaluation criteria is distance cost that prefers candidates close current position. If this only criterion, simply nearest candidate chosen as Although criterion simple implement gives feasible results there are situations where leads wrong decisions. This paper...
In this paper, the multi-robot motion coordination planning problem is addressed. Although a centralized prioritized strategy can be used to solve problem, we rather consider decentralized variant, which more suitable for robotic system of cooperating unmanned aerial vehicles (UAVs) due communication limitations, privacy concerns, and better exploitation computational resources distributed among individual robots. However, existing algorithm contains synchronization points that all agents...
We propose a self-organising map (SOM) algorithm as solution to new multi-goal path planning problem for active perception and data collection tasks. optimise paths multi-robot team that aims maximally observe set of nodes in the environment. The selected are observed by visiting associated viewpoint regions defined sensor model. key characteristics overlapping polygonal continuous regions, each node has an observation reward, robots constrained travel budgets. SOM jointly selects allocates...
In this paper, Self-Organizing Map (SOM) for the Multiple Traveling Salesman Problem (MTSP) with minmax objective is applied to robotic problem of multigoal path planning in polygonal domain. The main difficulty such SOM deployment determination collision-free paths among obstacles that required evaluate neuron-city distances winner selection phase unsupervised learning. Moreover, a also needed adaptation phase, where neurons are adapted towards presented input signal (city) network. Simple...