Abstract: This research deals with mobile robot SLAM algorithm based on extended kalman filter. To enhance a accuracy of robot pose, one more extended kalman filter is used in a rough surface environment. The robot has uncertain kinematic model due to a caterpillar. When the robot drives on irregular surface, it's heading can be corrupted. We propose a method to correct uncertain robot pose using one more extended kalman filter through simulation results.

Abstract: A new human and robot interface tool, so-called Navi-Guider, which makes it easy to handle mobile robots, is presented in this paper. The Navi-Guider is easily mounted on a mobile robot and is able to detect a length and a direction of the tether pulled out by a user. Those detected factors are utilized for the robot guidance and control. This paper addresses detailed hardware and software architecture of the Navi-Guider and demonstrates the practical usability of the system through actual experimental tests. The new device, NaviGuider, is an intuitive control tool for moving mobile robots from a place to another place just by pulling the tether.

Abstract: This paper presents the evolved soccer player strategies with ant-intelligence through genetic programming. To evolve the code for players we used the Evolutionary Computation tool (ECJ simulatorEvolutionary Compuation in Java). We tested the evolved player strategies with already existing teams in soccerbots of teambots. This paper presents brief information regarding learning methods and ant behaviors. Experimental results depicts the performance of the evolved player strategies.

Abstract: The dynamic cooperation model of multi-Agent is formed by combining reinforcement learning with BDI model. In this model, the concept of the individual optimization loses its meaning, because the repayment of each Agent dose not only depend on itsself but also on the choice of other Agents. All Agents can pursue a common optimum solution and try to realize the united intention as a whole to a maximum limit. The robot moves to its goal, depending on the present positions of the other robots that cooperate with it and the present position of the ball. One of these robots cooperating with it is controlled to move by man with a joystick. In this way, Agent can be ensured to search for each state-action as frequently as possible when it carries on choosing movements, so as to shorten the time of searching for the movement space so that the convergence speed of reinforcement learning can be improved. The validity of the proposed cooperative strategy for the robot soccer has been proved by combining theoretical analysis with simulation robot soccer match (11vs11 ).

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Abstract: In this paper we present an efficient approach to building a panoramic video from mutiview cameras and to tracking objects. The proposed panoramic video creation module consists of two functions: (i) selecting four quasi-feature points in two adjacent frames acquired by corresponding multiple cameras and (ii) mosaicing the two images. Four pairs of selected quasi-feature points play a role of similarity reference in registering two adjacent frames. The mosaicing step uses the direct linear transformation (DLT) algorithm. The proposed tracking algorithm uses the active contour model (ASM), which is robust against partial occlusion. The proposed tracking module consists of four functions: (i) landmark point assignment, (ii) principal component analysis (PCA), (iii) modeling of local structure, and (iv) model fitting. While most conventional panoramic image creation methods are pixel-based, the proposed feature-based method provides more accurate tracking result. In the experiment, the created panoramic images exhibit high quality, which enables robust, real-time video tracking.

Abstract: In this paper, The stability control strategy for a biped walking-chair robot is analyzed with human in the loop. The avoidance of unexpected rotation of the robot is treated via the control method based on the zero moment point (ZMP) criterion. The shared control between robot and human in the loop for the stability are introduced. The safe region of the human input is defined via ZMP for the system. Smooth transition from human input to snapped control input is achieved so as to guarantee maximum flexibility for humans as well as system stability and minimum base-line performance.

Abstract: The unprecedented scale and number of natural and man-made disasters in the past decade has urged international emergency search and rescue communities to seek for novel technology to enhance operation efficiency. Tele-operated search and rescue robots that can navigate deep into rubble to search for victims and to transfer critical field data back to the control console has gained much interest among emergency response institutions. In response to this need, a low-cost autonomous mini robot equipped with thermal sensor, accelerometer, sonar, pin-hole camera, microphone, ultra-bright LED and wireless communication module is developed to study the control of a group of decentralized mini search and rescue robots. The robot can navigate autonomously between voids to look for living body heat and can send back audio and video information to allow the operator to determine if the found object is a living human. This paper introduces the design and control of a low-cost robotic search and rescue system based on an immuno control framework developed for controlling decentralized systems. Design and development of the physical prototype and the immunity-based control system are described in this paper.

Abstract: The improvement of odometry systems in collective robotics remains an important challenge for several applications. Social odometry is an online social dynamics which confers the robots the possibility to learn from the others. Robots neither share any movement constraint nor access to centralized information. Each robot has an estimate of its own location and an associated confidence level that decreases with distance traveled. Social odometry guides a robot to its goal by imitating estimated locations, confidence levels and actual locations of its neighbors. This simple online social form of odometry is shown to produce a self-organized collective pattern which allows a group of robots to both increase the quality of individuals' estimates and efficiently improve their collective performance.

Abstract: A new concept using flexible tether-net system to capture space debris is presented in this paper. With a mass point assumption the tether-net system dynamic model is established in orbital frame by applying Lagrange Equations. In order to investigate the net in-plane trajectories during after cast, the non-control R-bar and V-bar captures are simulated with ignoring the out-of-plane libration, the effect of in-plane libration on the trajectories of the capture net is demonstrated by simulation results. With an effort to damp the in-plane libration, the control scheme based on tether tension is investigated firstly, after that an integrated control scheme is proposed by introduced the thrusters into the system, the nonlinear close-loop dynamics is linearised by feedforward strategy, the simulation results show that feedforward controllor is effective for in-plane libration damping and enable the capture net to track an expected trajectory.