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SCIENCES ET TECHNOLOGIES]
, 2010
"... la navigation de robots mobiles: approche par modèle direct et commande prédictive ..."
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la navigation de robots mobiles: approche par modèle direct et commande prédictive
Author manuscript, published in "Dans IEEE/RSJ 2008 International Conference on Intelligent RObots and Systems (2008)" Probabilistic navigation in dynamic environment using Rapidly-exploring Random Trees and Gaussian Processes
, 2008
"... Abstract — The paper describes a navigation algorithm for dynamic, uncertain environment. Moving obstacles are supposed to move on typical patterns which are pre-learned and are represented by Gaussian processes. The planning algorithm is based on an extension of the Rapidly-exploring Random Tree al ..."
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Abstract — The paper describes a navigation algorithm for dynamic, uncertain environment. Moving obstacles are supposed to move on typical patterns which are pre-learned and are represented by Gaussian processes. The planning algorithm is based on an extension of the Rapidly-exploring Random Tree algorithm, where the likelihood of the obstacles trajectory and the probability of collision is explicitly taken into account. The algorithm is used in a partial motion planner, and the probability of collision is updated in real-time according to the most recent estimation. Results show the performance of the navigation algorithm for a car-like robot moving among dynamic obstacles with probabilistic trajectory prediction. I.
Author manuscript, published in "ISRR, Japon (2007)" Bayesian Programming: life science modeling and robotics applications
, 2008
"... How to use an incomplete and uncertain model of the environment to perceive, infer, decide and act efficiently? This is the challenge both living and artificial cognitive systems have to face. Logic is by nature unable to deal with this question. The subjectivist approach to probability is an altern ..."
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How to use an incomplete and uncertain model of the environment to perceive, infer, decide and act efficiently? This is the challenge both living and artificial cognitive systems have to face. Logic is by nature unable to deal with this question. The subjectivist approach to probability is an alternative to logic specifically designed to face this challenge. In this paper we introduce Bayesian Programming, a methodology, a formalism and an inference engine to build and compute probabilistic models. The principles are illustrated with two examples: modeling human perception of structure from motion and playing to train a video game avatar. 1 Probability as an alternative to logic for rational sensory–motor reasoning and decision The subjectivist approach to probability (often partially improperly called “Bayesian approach”) proposes probability theory as an alternative to logic for rational reasoning in presence of incompleteness and uncertainty [Jaynes,
Sixth Indian Conference on Computer Vision, Graphics & Image Processing Frequency Domain Visual Servoing using Planar Contours
"... Fourier domain methods have had a long association with geometric vision. In this paper, we introduce Fourier domain methods into the field of visual servoing for the first time. We show how different properties of Fourier transforms may be used to address specific issues in traditional visual servo ..."
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Fourier domain methods have had a long association with geometric vision. In this paper, we introduce Fourier domain methods into the field of visual servoing for the first time. We show how different properties of Fourier transforms may be used to address specific issues in traditional visual servoing methods, giving rise to algorithms that are more flexible. Specifically, we demonstrate how Fourier analysis may be used to obtain straight camera paths in the Cartesian space, do path following and correspondenceless visual servoing. Most importantly, by introducing Fourier techniques, we set a framework into which robust Fourier based geometry processing algorithms may be incorporated to address the various issues in servoing. 1
Author manuscript, published in "DASIP 2012- Conference on Design and Architectures for Signal and Image Processing (2012)" Programmable routers for efficient mapping of applications onto NoC-based MPSoCs
, 2013
"... Abstract—We extend the state-of-the-art DSPIN network-on-chip architecture by defining programmable NoC routers that can establish effective static scheduling and routing of data packets as demanded by the application. Router programs are the result of a general compilation process which targets the ..."
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Abstract—We extend the state-of-the-art DSPIN network-on-chip architecture by defining programmable NoC routers that can establish effective static scheduling and routing of data packets as demanded by the application. Router programs are the result of a general compilation process which targets the NoC and the computing cores altogether. The objective is to reduce NoC contentions, improving speed and timing predictability. We consider the range of applications of such an approach and provide results on two of them (a simple embedded controller and an FFT). I.
Submission to IEEE Transactions on Robotics Surfing the Sensorium: Navigation on Sensory-Motor Trajectories
, 2004
"... Regular Paper Abstract — Autonomous navigation of a mobile robot along a predefined trajectory is a widely studied problem in the robotics community. As an alternative to Cartesian trajectories, we propose to define trajectories as sequences of sensory-motor information. In this paper we show that s ..."
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Regular Paper Abstract — Autonomous navigation of a mobile robot along a predefined trajectory is a widely studied problem in the robotics community. As an alternative to Cartesian trajectories, we propose to define trajectories as sequences of sensory-motor information. In this paper we show that such a representation is suitable for navigating on the trajectory. To this end, we describe an architecture of Bayesian inference to localize and control the robot on its trajectory. In order to increase robustness, we also use this Bayesian framework to estimate system self-confidence while the robot is moving. This work has been validated both on a simulated robot and on a real car-like robot: the CyCab. Keywords — Mobile robot navigation, Sensor-based control, Bayesian programming. a Institut National de Recherche en Informatique et en Automatique.
Path planning for a Parking Assistance System: Implementation and Experimentation
"... Manoeuvre assistance is currently receiving increasing attention from the car industry. In this article we focus on the implementation of a reverse parking assistance and more precisely, a reverse parking manoeuvre planner. This paper is based on a manoeuvre planning technique presented in previous ..."
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Manoeuvre assistance is currently receiving increasing attention from the car industry. In this article we focus on the implementation of a reverse parking assistance and more precisely, a reverse parking manoeuvre planner. This paper is based on a manoeuvre planning technique presented in previous work and specialised in planning reverse parking manoeuvre. Since a key part of the previous method was not explicited, our goal in this paper is to present a practical and reproducible way to implement a reverse parking manoeuvre planner. Our implementation uses a database engine to search for the elementary movements that will make the complete parking manoeuvre. Our results have been successfully tested on a real platform: the CSIRO Autonomous Tractor. 1
Integrating Perception and Planning for Autonomous Navigation of Urban Vehicles
- in IEEE/RSJ International Conference on Intelligent Robots and Systems,IROS
, 2006
"... The paper addresses the problem of autonomous navigation of a car-like robot evolving in an urban environment. Such an environment exhibits an heterogeneous geometry and is cluttered with moving obstacles. Furthermore, in this context, motion safety is a critical issue. The proposed approach to the ..."
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The paper addresses the problem of autonomous navigation of a car-like robot evolving in an urban environment. Such an environment exhibits an heterogeneous geometry and is cluttered with moving obstacles. Furthermore, in this context, motion safety is a critical issue. The proposed approach to the problem lies in the coupling of two crucial robotic capabilities, namely perception and planning. The main contributions of this work are the development and integration of these modules into one single application, considering explicitly the constraints related to the environment and the system.
DRAFT Version Robust trajectory tracking for a reversing tractor-trailer system
, 2008
"... Tractor-trailer reversing is a classical non-linear control problem in which many of the solutions proposed in the literature perform poorly in the presence of real-world constraints such as steering angle, rate limits and lags. In this paper we describe a new method in which an inner loop controls ..."
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Tractor-trailer reversing is a classical non-linear control problem in which many of the solutions proposed in the literature perform poorly in the presence of real-world constraints such as steering angle, rate limits and lags. In this paper we describe a new method in which an inner loop controls the hitch-angle of the trailer creating a virtual articulated vehicle to which existing control techniques can be applied. We provide an analysis of the stability and convergence properties of this control approach, as well as experimental results which illustrate the robustness of this approach to model estimation errors, low-level control loop dynamics, and other disturbances introduced by, for example, state estimation errors. DRAFT Robust trajectory tracking for a reversing tractor-trailer system
