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A Robust Statistical Collision Detection Framework for Quadruped Robots
"... Abstract. In order for it to achieve its tasks in an effective manner an autonomous mobile robot must be able to detect collisions and recover from them quickly. This paper proposes a new solution to the problem of detecting collisions during omnidirectional motion of a quadruped robot with an inter ..."
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Abstract. In order for it to achieve its tasks in an effective manner an autonomous mobile robot must be able to detect collisions and recover from them quickly. This paper proposes a new solution to the problem of detecting collisions during omnidirectional motion of a quadruped robot with an internal accelerometer considering it as an instance of general signal processing and statistical anomaly detection problem. We find that temporal accelerometer readings examined in frequency domain are good indicators of regularities (normal motion) and novel situations (collisions). In course of time, the robot builds a probabilistic model that captures its intrinsic properties while walking without obstruction and uses that model to determine whether there is an abnormality in case of an unfamiliar pattern. The approach does not depend on the walking algorithm used and walk characteristics, and is insensitive to the surface texture that the robot walks on as long as the surface is flat. 1
Distributed Object Modeling Using Object Relations in Dynamic Environments
"... Abstract. In this paper we describe how a group of agents can commonly estimate the position of objects. Furthermore we will show how these modeled object positions can be used for an improved self localization. Modeling of moving objects is commonly done by a single agent and in a robo-centric coor ..."
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Abstract. In this paper we describe how a group of agents can commonly estimate the position of objects. Furthermore we will show how these modeled object positions can be used for an improved self localization. Modeling of moving objects is commonly done by a single agent and in a robo-centric coordinate frame because this information is sufficient for most low level robot control and it is independent of the quality of the current robot localization. Especially when many robots cooperate with each other in a partially observable environment they have to share and to communicate information. For multiple robots to cooperate and to share information, though, they need to agree on a global, allocentric frame of reference. But when transforming the egocentric object model into a global one, it inherits the localization error of the robot in addition to the error associated with the egocentric model. We propose using the relation of objects detected in camera images to other objects in the same camera image as a basis for estimating the position of the object in a global coordinate system. The spacial relation of objects with respect to stationary objects (e.g., landmarks) offers several advantages: The information is independent of robot localization and odometry. It can be easily communicated. We present experimental evidence that shows how two robots are able to infer the position of an object within a global frame of reference, even though they are not localized themselves. We will also show, how to use this object information for self localization. A third aspect of this work will cope with the communication delay therefore we will show, how the Markov Model can be extended for distributed object tracking. 1
Cerberus’10 SPL Team
"... The Cerberus team made its debut in the RoboCup 2001 competition. This was the first international team participating in the league as a result of the joint research effort of a ..."
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The Cerberus team made its debut in the RoboCup 2001 competition. This was the first international team participating in the league as a result of the joint research effort of a
Cerberus’08 Standard Platform League Team Qualification Document
"... “Cerberus ” team made its debut in the 4-Legged league in RoboCup 2001 competition. This was the first international team participating in the league as a result of the joint research effort of Bo˘gaziçi University (BU), Istanbul, Turkey and Technical University Sofia, Plovdiv branch (TUSP), Plovdiv ..."
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“Cerberus ” team made its debut in the 4-Legged league in RoboCup 2001 competition. This was the first international team participating in the league as a result of the joint research effort of Bo˘gaziçi University (BU), Istanbul, Turkey and Technical University Sofia, Plovdiv branch (TUSP), Plovdiv, Bulgaria [1]. The team competed in Robocup
Can Kavaklıo˘glu
"... The “Cerberus ” team made its debut in RoboCup 2001 competition. This was the first international team participating in the league as a result of the joint research effort of a ..."
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The “Cerberus ” team made its debut in RoboCup 2001 competition. This was the first international team participating in the league as a result of the joint research effort of a
Multi Robot Object Tracking and Self Localization Using Visual Percept Relations ∗
"... Abstract — In this paper we present a novel approach to estimating the position of objects tracked by a team of mobile robots and to use these objects for a better self localization. Modeling of moving objects is commonly done in a robo-centric coordinate frame because this information is sufficient ..."
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Abstract — In this paper we present a novel approach to estimating the position of objects tracked by a team of mobile robots and to use these objects for a better self localization. Modeling of moving objects is commonly done in a robo-centric coordinate frame because this information is sufficient for most low level robot control and it is independent of the quality of the current robot localization. For multiple robots to cooperate and share information, though, they need to agree on a global, allocentric frame of reference. When transforming the egocentric object model into a global one, it inherits the localization error of the robot in addition to the error associated with the egocentric model. We propose using the relation of objects detected in camera images to other objects in the same camera image as a basis for estimating the position of the object in a global coordinate system. The spacial relation of objects with respect to stationary objects (e.g., landmarks) offers several advantages: a) Errors in feature detection are correlated and not assumed independent. Furthermore, the error of relative positions of objects within a single camera frame is comparably small. b) The information is independent of robot localization and odometry. c) As a consequence of the above, it provides a highly efficient method for communicating information about a tracked object and communication can be asynchronous. d) As the modeled object is independent from robo-centric coordinates, its position can be used for self localization of the observing robot. We present experimental evidence that shows how two robots are able to infer the position of an object within a global frame of reference, even though they are not localized themselves and then use this object information for self localization. Index Terms — Sensor Fusion, Sensor Networks I.
Cerberus’08 2-Legged Team Description Paper
"... "Cerberus" has been competing in the 4-Legged league since RoboCup 2001 competition [1]. Boğaziçi University has a strong research group in AI. The introduction of Robocup as a unifying theme for different areas of study in autonomous robots has attracted many talented students and acceler ..."
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"Cerberus" has been competing in the 4-Legged league since RoboCup 2001 competition [1]. Boğaziçi University has a strong research group in AI. The introduction of Robocup as a unifying theme for different areas of study in autonomous robots has attracted many talented students and accelerated research efforts with more than 40 journal and conference papers.
Cerberus’10 Team Description Paper
"... The Cerberus team made its debut in the RoboCup 2001 competition. This was the first international team participating in the league as a result of the joint research effort of a group of students and their professors from Boğaziçi University (BU), Istanbul, Turkey and Technical University Sofia, Plo ..."
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The Cerberus team made its debut in the RoboCup 2001 competition. This was the first international team participating in the league as a result of the joint research effort of a group of students and their professors from Boğaziçi University (BU), Istanbul, Turkey and Technical University Sofia, Plovdiv branch (TUSP), Plovdiv, Bulgaria.
Cerberus’06 Team Description Paper
"... The “Cerberus ” team made its debut in RoboCup 2001 competition. This was the first international team participating in the league as result of the joint research effort of a group of students and their professors from Bo˘gaziçi University ..."
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The “Cerberus ” team made its debut in RoboCup 2001 competition. This was the first international team participating in the league as result of the joint research effort of a group of students and their professors from Bo˘gaziçi University
