Non-Assembly Walking Mechanism Utilizing a Hexapod Gait

Small inspection robots allow for the optimal exploration of environments and the collection of data from challenging areas, particularly where there may be small access points or tight and fragile surroundings. These robots can be custom-built for specific tasks, but the design and assembly process for this can be costly, both in resources and...

Autonomous control for miniaturized mobile robots in unknown pipe networks

Despite recent advances in robotic technology, sewer pipe inspection is still limited to conventional approaches that use cable-tethered robots. Such commercially available tethered robots lack autonomy, and their operation must be manually controlled via their tethered cables. Consequently, they can only travel to a certain distance in pipe,...

Change detection using weighted features for image-based localization

Autonomous mobile robots are becoming increasingly important in many industrial and domestic environments. Dealing with unforeseen situations is a difficult problem that must be tackled to achieve long-term robot autonomy. In vision-based localization and navigation methods, one of the major issues is the scene dynamics. The autonomous...

Object-based pose graph for dynamic indoor environments

Relying on static representations of the environment limits the use of mapping methods in most real-world tasks. Real-world environments are dynamic and undergo changes that need to be handled through map adaptation. In this work, an object-based pose graph is proposed to solve the problem of mapping in indoor dynamic environments with mobile...

Towards life-long autonomy of mobile robots through feature-based change detection

Autonomous mobile robots are becoming increasingly important in many industrial and domestic environments. Dealing with unforeseen situations is a difficult problem that must be tackled in order to move closer to the ultimate goal of life-long autonomy. In computer vision-based methods employed on mobile robots, such as localization or...