Optimization of floor cleaning coverage performance of a random path-planning mobile robot

Floor cleaning is a typical robot application. There are several mobile robots aviable in the market for domestic applications most of them with random path-planning algorithms. In this paper we study the cleaning coverage performances of a random path-planning mobile robot and propose an optimized control algorithm, some methods to estimate the are of the room, the evolution of the cleaning and the time needed for complete coverage.

A survey on coverage path planning for robotics

Coverage Path Planning (CPP) is the task of determining a path that passes over all points of an area or volume of interest while avoiding obstacles. This task is integral to many robotic applications, such as vacuum cleaning robots, painter robots, autonomous underwater vehicles creating image mosaics, demining robots, lawn mowers, automated harvesters, window cleaners and inspection of complex structures, just to name a few. A considerable body of research has addressed the CPP problem. However, no updated surveys on CPP reflecting recent advances in the field have been presented in the past ten years. In this paper, we present a review of the most successful CPP methods, focusing on the achievements made in the past decade. Furthermore, we discuss reported field applications of the described CPP methods. This work aims to become a starting point for researchers who are initiating their endeavors in CPP. Likewise, this work aims to present a comprehensive review of the recent breakthroughs in the field, providing links to the most interesting and successful works

WMR navigation using local potential field corridors and narrow local occupancy grid perception

Path planning and control strategies applied to autonomous mobile robots should fulfil safety rules as well as achieve final goals. Trajectory planning applications should be fast and flexible to allow real time implementations as well as environment interactions. The methodology presented uses the on robot information as the meaningful data necessary to plan a narrow passage by using a corridor based on attraction potential fields that approaches the mobile robot to the final desired configuration. It employs local and dense occupancy grid perception to avoid collisions. The key goals of this research project are computational simplicity as well as the possibility of integrating this method with other methods reported by the research community. Another important aspect of this work consist in testing the proposed method by using a mobile robot with a perception system composed of a monocular camera and odometers placed on the two wheels of the differential driven motion system. Hence, visual data are used as a local horizon of perception in which trajectories without collisions are computed by satisfying final goal approaches and safety criteria

Local WMR navigation with monocular data

This article presents recent WMR (wheeled mobile robot) navigation experiences using local perception knowledge provided by monocular and odometer systems. A local narrow perception horizon is used to plan safety trajectories towards the objective. Therefore, monocular data are proposed as a way to obtain real time local information by building two dimensional occupancy grids through a time integration of the frames. The path planning is accomplished by using attraction potential fields, while the trajectory tracking is performed by using model predictive control techniques. The results are faced to indoor situations by using the lab available platform consisting in a differential driven mobile robot

Local model predictive control experiences with differential driven wheeled mobile robots

This work extends a previously developed research concerning about the use of local model predictive control in differential driven mobile robots. Hence, experimental results are presented as a way to improve the methodology by considering aspects as trajectory accuracy and time performance. In this sense, the cost function and the prediction horizon are important aspects to be considered. The aim of the present work is to test the control method by measuring trajectory tracking accuracy and time performance. Moreover, strategies for the integration with perception system and path planning are briefly introduced. In this sense, monocular image data can be used to plan safety trajectories by using goal attraction potential fields

Mobile Robot Local Predictive Control under Perception Constraints

This research extends a previously developed work concerning about the use of local model predictive control in mobile robots. Hence, experimental results are presented as a way to improve the methodology by considering aspects as trajectory accuracy and time performance. In this sense, the cost function and the prediction horizon are important aspects to be considered. The platformused is a differential driven robot with a free rotating wheel. The aim of the present work is to test the control method by measuring trajectory tracking accuracy and time performance. Moreover, strategies for the integration with perception system and path planning are also introduced. In this sense, monocular image data provide an occupancy grid where safety trajectories are computed by using goal attraction potential fields

Profile Following for Inspection of Underwater Structures

We present a seabed profile estimation and following method for close proximity inspection of 3D underwater structures using autonomous underwater vehicles (AUVs). The presented method is used to determine a path allowing the AUV to pass its sensors over all points of the target structure, which is known as coverage path planning. Our profile following method goes beyond traditional seabed following at a safe altitude and exploits hovering capabilities of recent AUV developments. A range sonar is used to incrementally construct a local probabilistic map representation of the environment and estimates of the local profile are obtained via linear regression. Two behavior-based controllers use these estimates to perform horizontal and vertical profile following. We build upon these tools to address coverage path planning for 3D underwater structures using a (potentially inaccurate) prior map and following cross-section profiles of the target structure. The feasibility of the proposed method is demonstrated using the GIRONA 500 AUV both in simulation using synthetic and real-world bathymetric data and in pool trials

Stable rank of leavitt path algebra

We characterize the values of the stable rank for Leavitt path algebras, by giving concrete criteria in terms of properties of the underlying graph.

Turkey's accession to the EU: interests, ideas and path dependence

The paper is divided into four sections. The first offers a critical assessment of explanations of both rationalist and constructivist approaches currently dominating European studies and assesses the notion of path dependence. The second and third sections analyse the role of both material interests and polity ideas in EU enlargement to Turkey, and conclude that explanations exclusively based on either strategic calculations or values and identities have significant shortcomings. The fourth section examines the institutional path of Turkey's candidacy to show how the course of action begun at Helsinki restricted the range of possible and legitimate options three years later in Copenhagen.

Chain conditions for Leavitt path algebras

In this paper, results known about the artinian and noetherian conditions for the Leavitt path algebras of graphs with finitely many vertices are extended to all row-finite graphs. In our first main result, necessary and sufficient conditions on a row-finite graph E are given so that the corresponding (not necessarily unital) Leavitt path K-algebra L(E) is semisimple. These are precisely the algebras L(E)for which every corner is left (equivalently, right)artinian. They are also precisely the algebras L(E) for which every finitely generated left (equivalently, right) L(E)-module is artinian. In our second main result, we give necessary and sufficient conditions for every corner of L(E) to be left (equivalently, right) noetherian. They also turn out to be precisely those algebras L(E) for which every finitely generated left(equivalently, right) L(E)-module is noetherian. In both situations, isomorphisms between these algebras and appropriate direct sums of matrix rings over K or K[x, x−1] are provided. Likewise, in both situations, equivalent graph theoretic conditions on E are presented.

The Difficult and tortuous path of agricultural cooperative networks in spain, 1890-1935

The rural associationism developed from the last decades of the XIX century could be consider as an answer of the agriculturists to the increasing integration of agriculture in the market, and to the effects of the Great Depression. In the case of Spain, the initiatives in this sense arose with certain delay in relation to the countries of Western Europe. The beginning of the Spanish cooperativism is closely bound to the Law of 1906. It granted the agrarian cooperatives with fiscal exemptions and other types of supports to the associates, although the process did not really accelerate until the promulgation of the law regulation in 1908.

Historic evolution and urban planning typology of Olympic Village

Article providing a broad historical overview of the role and typology of Olympic villages along the history of the Modern Olympic Games. This article was published in the book entitled ‘Olympic Villages: a hundred years of urban planning and shared experiences’ compiling the papers given at the 1997 International Symposium on International Chair in Olympism (IOC-UAB).

Testing low-altitude infrared digital photography from a mini-UAV to retrieve information for biological conservation

Satellite remote sensing imagery is used for forestry, conservation and environmental applications, but insufficient spatial resolution, and, in particular, unavailability of images at the precise timing required for a given application, often prevent achieving a fully operational stage. Airborne remote sensing has the advantage of custom-tuned sensors, resolution and timing, but its price prevents using it as a routine technique for the mentioned fields. Some Unmanned Aerial Vehicles might provide a “third way” solution as low-cost techniques for acquiring remotely sensed information, under close control of the end-user, albeit at the expense of lower quality instrumentation and instability. This report evaluates a light remote sensing system based on a remotely-controlled mini-UAV (ATMOS-3) equipped with a color infra-red camera (VEGCAM-1) designed and operated by CATUAV. We conducted a testing mission over a Mediterranean landscape dominated by an evergreen woodland of Aleppo pine (Pinus halepensis) and (Holm) oak (Quercus ilex) in the Montseny National Park (Catalonia, NE Spain). We took advantage of state-of-the-art ortho-rectified digital aerial imagery (acquired by the Institut Cartogràfic de Catalunya over the area during the previous year) and used it as quality reference. In particular, we paid attention to: 1) Operationality of flight and image acquisition according to a previously defined plan; 2) Radiometric and geometric quality of the images; and 3) Operational use of the images in the context of applications. We conclude that the system has achieved an operational stage regarding flight activities, although with meteorological limits set by wind speed and turbulence. Appropriate landing areas can be sometimes limiting also, but the system is able to land on small and relatively rough terrains such as patches of grassland or short matorral, and we have operated the UAV as far as 7 km from the control unit. Radiometric quality is sufficient for interactive analysis, but probably insufficient for automated processing. A forthcoming camera is supposed to greatly improve radiometric quality and consistency. Conventional GPS positioning through time synchronization provides coarse orientation of the images, with no roll information.

EU cohesion aid to Spain: a data set. Part I: 2000-06 planning period

In this paper we construct a data set on EU cohesion aid to Spain during the planning period 2000-06. The data are disaggregated by region, year and function and attempt to approximate the timing of actual executed expenditure on assisted projects.

Tensor products of Leavitt path algebras

Vegeu el resum a l'inici del document del fitxer adjunt.