Mauthner versus Wittgenstein

Mauthner esteemed language as a philosophical inquiry. He measured the philosophical entailments between language and reality and the consequent knowledge produced by such entailments. He questioned language’s aptitude to express and represent reality and, according to him, language is a critical source of knowledge and an unfaithful representation of reality, because there is a gap between language and reality, i.e. language distorts perception and engenders false and fictitious assumptions about reality. Language fosters superstition, creates gods and idols and exerts a dominating power over the intellect. Mauthner pointed out a critique of language based on metaphors, which would serve to address and clarify the deformation of reality. Wittgenstein, unlike himself suggested, was inspired by Mauthner. Both showed interest toward the critical analysis of language and there are many conceptual similarities between their language’s conceptions (e.g. concerning the use of metaphors to understand language). Therefore, this paper seeks a) to emphasize Mauthner’s metaphors on language as an accurate interpretation regarding the philosophical entailments between language and reality, and b) to demonstrate the epistemological legacy of Mauthner’s critique of language to Wittgenstein’s philosophy of language.

Decentralized Target Tracking based on Multi-Robot Cooperative Triangulation

Target tracking with bearing-only sensors is a challenging problem when the target moves dynamically in complex scenarios. Besides the partial observability of such sensors, they have limited field of views, occlusions can occur, etc. In those cases, cooperative approaches with multiple tracking robots are interesting, but the different sources of uncertain information need to be considered appropriately in order to achieve better estimates. Even though there exist probabilistic filters that can estimate the position of a target dealing with incertainties, bearing-only measurements bring usually additional problems with initialization and data association. In this paper, we propose a multi-robot triangulation method with a dynamic baseline that can triangulate bearing-only measurements in a probabilistic manner to produce 3D observations. This method is combined with a decentralized stochastic filter and used to tackle those initialization and data association issues. The approach is validated with simulations and field experiments where a team of aerial and ground robots with cameras track a dynamic target.

Vision-Based Assisted Teleoperation for Inspection Tasks with a Small ROV

It is well-known that ROVs require human intervention to guarantee the success of their assignment, as well as the equipment safety. However, as its teleoperation is quite complex to perform, there is a need for assisted teleoperation. This study aims to take on this challenge by developing vision-based assisted teleoperation maneuvers, since a standard camera is present in any ROV. The proposed approach is a visual servoing solution, that allows the user to select between several standard image processing methods and is applied to a 3-DOF ROV. The most interesting characteristic of the presented system is the exclusive use of the camera data to improve the teleoperation of an underactuated ROV. It is demonstrated through the comparison and evaluation of standard implementations of different vision methods and the execution of simple maneuvers to acquire experimental results, that the teleoperation of a small ROV can be drastically improved without the need to install additional sensors.