Path planning and navigation is a very important problem in robotics, especially for mobile robots operating complex environments. Sampling based planners such as the probabilistic roadmaps (PRM) have been widely used different robot applications. However, due to random sampling of nodes PRM, it suffers from narrow passage that generates unconnected graph. The addressed by increasing number but at higher computation cost affecting real-time performance. To address this issue, paper, we...

Heterogeneous robot teams offer significant advantages for exploration and navigation missions in unknown environments. Notably, the air-ground have superior efficiency due to their mixed abilities shared sensor resources useful when completing missions. However, high energy consumption reduced payload capability of vertical take-off landing (VTOL) aerial platforms limit complete team's behavior. At some point a mission, aircraft needs return base, land, replenish its batteries. This task...

Line detection is an important problem in computer vision, graphics and autonomous robot navigation. Lines detected using a laser range sensor (LRS) mounted on can be used as features to build map of the environment, later localize map, process known Simultaneous Localization Mapping (SLAM). We propose efficient algorithm for line from LRS data novel hopping-points Singular Value Decomposition (SVD) Hough transform-based algorithm, which SVD applied intermittent points accelerate algorithm....

Generating smooth and continuous paths for robots with collision avoidance, which avoid sharp turns, is an important problem in the context of autonomous robot navigation. This paper presents novel hypocycloidal (SHP) motion. It integrated collision-free decoupled multi-robot path planning. An SHP diffuses (i.e., moves points along segments) turns global map into nodes, are used to generate curves that maintain a safe clearance relation obstacles. These nodes also as retreat other robots....

Large scale operational areas often require multiple service robots for coverage and task parallelism. In such scenarios, each robot keeps its individual map of the environment serves specific at different times. We propose a knowledge sharing mechanism in which one can inform other about changes map, like path blockage, or new static obstacles, encountered map. This symbiotic information allows to update remote without having explicitly navigate those areas, plan efficient paths. A node...

In recent years, autonomous vehicle driving technology and advanced driver assistance systems have played a key role in improving road safety. However, weather conditions such as snow pose severe challenges for are an active research area. Thanks to their superior reliability, the resilience of detection, improved accuracy, advances computation sensor paved way deep learning neural network–based techniques that can replace classical approaches. this research, we investigate semantic...

Map generation by a robot in cluttered and noisy environment is an important problem autonomous navigation. This paper presents algorithms framework to generate 2D line maps from laser range sensor data using clustering spatial (Euclidean) Hough domains environments. The contributions of the are: (1) it shows applicability density-based methods mathematical morphological techniques generally used image processing for noise removal data; (2) new algorithm straight-line applying domain; (3)...

The safety of railways is ensured by the regular maintenance tracks, signals and rolling stocks. This mainly involves manual inspection skilled maintainers automated systems are not commonly used. development an system crucial for maintaining good rail conditions. In this study on automatic surface defect detection systems, we focused wheels as target because they critical components stocks, any wheel defects can cause severe problems. Wheel-tread-profile dimensions have been measured using...

Hitchhiking is a means of transportation gained by asking other people for (free) ride. We developed multi-robot system which the first its kind to incorporate hitchhiking in robotics, and discuss advantages. Our method allows hitchhiker robot skip redundant computations navigation like path planning, localization, obstacle avoidance, map update completely relying on driver robot. This robot, performs only visual servoing, save computation while navigating common with The proposed all heavy...

In this paper, we present a hybrid topological mapping and navigation method for mobile robots. The proposed combines metric information to create map generate plan the robot. As compared traditional approaches of robot mapping, is lightweight can be used in large areas which particularly useful service robots operating buildings. only uses local while maintaining global graph nodes. nodes are effectively also store semantic scene such as poses, scans properties complete long term autonomy....

Mapping and exploration are important tasks of mobile robots for various applications such as search rescue, inspection, surveillance. Unmanned aerial vehicles (UAVs) more suited because they have a large field view compared to ground robots. Autonomous operation UAVs is desirable in unknown environments. In environments, the UAV must make map environment simultaneously localize itself it which commonly known SLAM (simultaneous localization mapping) problem. This also required safely...

This paper presents a straightforward way to fully calibrate low-cost IMU sensor in field. In this approach, plastic cube that is made by 3D printer introduced as the body carrier of IMU. The accelerometer firstly calibrated using famous multi-position method and then followed with correction misalignment between frame frame. A normal swivel chair reformed an easy turntable perform smooth rotation. gyroscope angle domain angular displacement reference estimated laser scan matching process....

The challenges of driving on snow and ice roads bring out a demand for object detection drivable area segmentation in snowy environments. Semantic techniques have been able to achieve good results provided that the models are well-trained based appropriate dataset. However, no current dataset exists contains adequate images To address this issue, we introduce our train test pixel-wise semantic labeling. This consists both real synthetic samples with 11 classes. We conduct comparative...

Skilled technicians primarily use manual tools to maintain the geometry and surface conditions of railcar wheels. To ensure efficient wheel maintenance, development an automated inspection system is required. Herein, method for wheels proposed based on assessment tread dimensions investigation results are presented. The parameters considered because they crucial railway operation safety manually inspecting them requires a large workforce. improve efficiency system, combined through laser...

A theoretical method is presented for solving the free vibration of angle-ply laminated cylindrical shells. The shell macroscopically modeled as a thin general anisotropy by using classical lamination theory. functional derived from Flugge-type theory minimized following Ritz procedure, and arbitrary combinations boundary conditions at both ends are accommodated introducing newly developed admissible functions. computer code made to verify validity present method, natural frequencies mode...

Scale ambiguity and drift are inherent drawbacks of a pure-visual monocular simultaneous localization mapping (SLAM) system. This problem could be crucial challenge for other robots with range sensors to perform in map previously built by camera. In this paper, metrically inconsistent priori is made the SLAM that subsequently used on another robot only using laser finder (LRF). To tackle metric inconsistency, paper proposes 2D-LRF-based algorithm which allows locate itself resolve scale...

Inclement weather conditions such as snow can severely hamper visibility and make it more challenging to recognize the obstacles on road. This situation is very for drivers locate drivable regions For autonomous driving vehicles, inclement are a severe challenge due poor visibility, lack of features ground, slippery surfaces roads. research attempts classify road obstacle snowy roads application driving. The dataset using in this based RGB images from conditions. It includes different image...

Thispaper presents a method of simultaneous localization and mapping (SLAM) in indoor environment using extended Kalman filter (EKF) with the straight line segments as adopted geometrical feature. By conventional two dimensional laser range finder (LRF) main sensor, robot finds number points scanned from surrounding environment.Split-and-Merge is one mostpopular algorithms to extract these raw points. However, during splitting procedure, especially when long LRF employed, widely...