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Register a new userMobile Manipulator for Autonomous Localization, Grasping and Precise Placement of Construction Material in a Semi-structured Environment
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Added by
Petr \\v{S}tibinger
Publication date
2020
fields
Informatics Engineering
and research's language is
English
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Mobile manipulators have the potential to revolutionize modern agriculture, logistics and manufacturing. In this work, we present the design of a ground-based mobile manipulator for automated structure assembly. The proposed system is capable of autonomous localization, grasping, transportation and deployment of construction material in a semi-structured environment. Special effort was put into making the system invariant to lighting changes, and not reliant on external positioning systems. Therefore, the presented system is self-contained and capable of operating in outdoor and indoor conditions alike. Finally, we present means to extend the perceptive radius of the vehicle by using it in cooperation with an autonomous drone, which provides aerial reconnaissance. Performance of the proposed system has been evaluated in a series of experiments conducted in real-world conditions.
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Path planning algorithms for unmanned aerial or ground vehicles, in many surveillance applications, rely on Global Positioning System (GPS) information for localization. However, disruption of GPS signals, by intention or otherwise, can render these plans and algorithms ineffective. This article provides a way of addressing this issue by utilizing stationary landmarks to aid localization in such GPS-disrupted or GPS-denied environment. In particular, given the vehicles path, we formulate a landmark-placement problem and present algorithms to place the minimum number of landmarks while satisfying the localization, sensing, and collision-avoidance constraints. The performance of such a placement is also evaluated via extensive simulations on ground robots.
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