loading
Papers Papers/2022 Papers Papers/2022

Research.Publish.Connect.

Paper

Paper Unlock

Authors: M. Shuja Ahmed ; Reza Saatchi and Fabio Caparrelli

Affiliation: Sheffield Hallam University, United Kingdom

Keyword(s): Obstacle Avoidance, Visual Odometery, Swarm Robotics.

Related Ontology Subjects/Areas/Topics: Embedded Communications Systems ; Mobile and Pervasive Computing ; Mobile Computing ; Networking and Connectivity ; Pervasive Embedded Networks ; Telecommunications

Abstract: In multi-robotic systems, an approach to the coordination of multiple robots with each other is called swarm robotics. In swarm robotic systems, small size robots with limited memory and processing resources are used. Integration of vision sensors in such robots can complicate the design of the robots but at the same time, a single vision sensor can be used for multiple objectives as it provide rich surrounding information. As the vision algorithms are normally computationally demanding and robots in swarm systems has limited memory and processing capabilities, so the requirements of light weight vision algorithms also arises. In this research, the use of vision sensor information is made for achieving multiple objectives. A solution to obstacle avoidance, which is the basic requirement as robots move in a cluttered environment and also odometry which is essential for robot localization, is provided using only visual clues. The approach developed in this research is computationally l ess expensive and suitable for small size robots, where processing and memory constraints limit the use of computationally expensive approaches. To achieve this a library of vision algorithms is developed and customized for Blackfin processor based robotic systems. (More)

CC BY-NC-ND 4.0

Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 54.197.64.207

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
Shuja Ahmed, M.; Saatchi, R. and Caparrelli, F. (2012). VISION BASED OBSTACLE AVOIDANCE AND ODOMETERY FOR SWARMS OF SMALL SIZE ROBOTS. In Proceedings of the 2nd International Conference on Pervasive Embedded Computing and Communication Systems - PECCS; ISBN 978-989-8565-00-6; ISSN 2184-2817, SciTePress, pages 115-122. DOI: 10.5220/0003820701150122

@conference{peccs12,
author={M. {Shuja Ahmed}. and Reza Saatchi. and Fabio Caparrelli.},
title={VISION BASED OBSTACLE AVOIDANCE AND ODOMETERY FOR SWARMS OF SMALL SIZE ROBOTS},
booktitle={Proceedings of the 2nd International Conference on Pervasive Embedded Computing and Communication Systems - PECCS},
year={2012},
pages={115-122},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003820701150122},
isbn={978-989-8565-00-6},
issn={2184-2817},
}

TY - CONF

JO - Proceedings of the 2nd International Conference on Pervasive Embedded Computing and Communication Systems - PECCS
TI - VISION BASED OBSTACLE AVOIDANCE AND ODOMETERY FOR SWARMS OF SMALL SIZE ROBOTS
SN - 978-989-8565-00-6
IS - 2184-2817
AU - Shuja Ahmed, M.
AU - Saatchi, R.
AU - Caparrelli, F.
PY - 2012
SP - 115
EP - 122
DO - 10.5220/0003820701150122
PB - SciTePress