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  • 1.
    Forsberg, Johan
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
    Larsson, Ulf
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
    Wernersson, Åke
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
    Mobile robot navigation using the range-weighted Hough transform1995In: IEEE robotics & automation magazine, ISSN 1070-9932, E-ISSN 1558-223X, Vol. 2, no 1, p. 18-26Article in journal (Refereed)
    Abstract [en]

    Accurate navigation of a mobile robot in cluttered rooms using a range-measuring laser as a sensor has been achieved. To extract the directions and distances to the walls of the room the range-weighted Hough transform is used. The following experimental results are emphasized: The robot extracts the walls of the surrounding room from the range measurements. The distances between parallel walls are estimated with a standard deviation smaller than 1 cm. It is possible to navigate the robot along any preselected trajectory in the room. One special case is navigation through an open door detected by the laser. The accuracy of the passage is 1 cm at a speed of 0.5 m/s. The trajectory is perpendicular to the wall within 0.5 degrees in angle. When navigating through corridors, the accuracy is better than 1 cm at 0.8 m/s-the maximum speed of the robot. Odometric data and laser measurements are combined using the extended Kalman filter. The size of the cluttered rectangular room and the position and orientation (pose) of the robot are estimated during motion. The extraction and the resulting navigation are very robust against both spurious measurements in the laser measurements and disturbing objects.

  • 2.
    Wopereis, Han
    et al.
    Robotics and Mechatronics (RAM), University of Twente, Lichtenvoorde, 7131 TK, Netherlands.
    van de Ridder, L. W.
    University of Twente, Netherlands.
    Lankhorst, Tom J. W.
    University of Twente, Netherlands.
    Klooster, Lucian
    Mechanical Engineering, University of Twente, Enschede, 7514DN, Netherlands.
    Bukai, Evyatar
    University of Twente, Netherlands.
    Wuthier, David
    Mechanical engineering, Aalborg university Copenhagen, Copenhagen, 2450, Denmark.
    Nikolakopoulos, George
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Stramigioli, Stefano
    EWI, University of Twente, Enschede, 7500AE, Netherlands.
    Engelen, Johan B. C.
    Robotics and Mechatronics, University of Twente, Enschede, 7500AE, Netherlands.
    Fumagalli, Matteo
    Robotics, Vision and Machine Intelligence, Aalborg University, Copenhagen, 2450, Denmark.
    Multimodal Aerial Locomotion: An Approach to Active Tool Handling 10 Author2018In: IEEE robotics & automation magazine, ISSN 1070-9932, E-ISSN 1558-223X, Vol. 25, no 4, p. 57-65, article id 8491265Article in journal (Refereed)
    Abstract [en]

    The research focus in aerial robotics is shifting from contactless inspection toward interaction and manipulation, with the number of potential applications rapidly increasing [1]. Eventually, aerial manipulators, i.e., unmanned aerial vehicles (UAVs) equipped with manipulators, will likely take on hazardous maintenance tasks now performed by humans. For this to happen, aerial manipulators must be able to perform all the different operations required in these maintenance routines.

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