Relevant bibliographies by topics / Mobile Service Robotic

Academic literature on the topic 'Mobile Service Robotic'

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Published: 14 March 2023

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Journal articles on the topic "Mobile Service Robotic"

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Prada, Erik, Srikanth Murali, Ľubica Miková, and Jana Ligušová. "APPLICATION OF DENAVIT HARTENBERG METHOD IN SERVICE ROBOTICS." Acta Mechatronica 5, no. 4 (December 31, 2020): 47–52. http://dx.doi.org/10.22306/am.v5i4.68.

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This work focuses primarily on the D-H method, as one of the most important methods used in the process of designing robotic structures. In the introduction, the history of the D-H method and its general use is briefly mentioned. In the following section, the algorithm for applying D-H in the form of mathematical formalism is explained. In this part, the individual steps of creating transformational relationships are explained in more detail. The next chapters deal in more detail with individual application types within service robotics. The first type deals with the application deployment of the mobile robotic platform, the second deals with the mobile humanoid robotic structure, the other deals with the fourlegged robotic mechanism and the last type with the application of the robotic arm.
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Chugunov, Mikhail V., Irina N. Polunina, Alexander G. Divin, Aleksandra A. Generalova, Artem A. Nikulin, and Dmitriy S. Bychkov. "Integrated Mobile Robotic Platform Model." Engineering Technologies and Systems 31, no. 4 (December 30, 2021): 609–27. http://dx.doi.org/10.15507/2658-4123.031.202104.609-627.

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Introduction. The “Smart Agroˮ committee of Research and Education Center “Engineering of the Future” has identified a number of tasks relevant for improving the efficiency of precision, soil-protecting and conservation agriculture. One of these tasks is the development of a digital multi-agent system, which provides a number of services for agricultural enterprises, developers and manufacturers of agricultural machinery. The purpose of the present study is to model an autonomous mobile robotic platform, including the development of software and hardware for trajectory control. Materials and Methods. To solve the problem, there are used modern CAx systems and their applications, the methods of 3D and full-body modeling, and the method of numerical solution of problems in solid mechanics. To expand and improve the standard functionality of CAx-systems (SolidWorks) in the software implementation of trajectory control algorithms, the methods and technologies of programming using API SolidWorks, VisualStudio C++ (MFC, ATL, COM) are used, and to build physical full-scale models ‒ Arduino and fischertechnik platforms. Results. The result of the study is a software and hardware module of trajectory control for an integrated (physical and virtual) model of a mobile robotic platform, which can be provided to the consumer as a service for technology autonomation. For the developed integrated model, control algorithms for various types of trajectories were tested. Discussion and Conclusion. The developed integrated software and hardware model of trajectory control can be used by developers and manufacturers of agricultural machinery, and directly by agro-enterprises for implementing typical technological processes. A feature of the implementation is an open hardware and software interface that provides the integration of mobile robotic platforms based on a digital multi-agent system.
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Campeau-Lecours, Alexandre, Hugo Lamontagne, Simon Latour, Philippe Fauteux, Véronique Maheu, François Boucher, Charles Deguire, and Louis-Joseph Caron L'Ecuyer. "Kinova Modular Robot Arms for Service Robotics Applications." International Journal of Robotics Applications and Technologies 5, no. 2 (July 2017): 49–71. http://dx.doi.org/10.4018/ijrat.2017070104.

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This article presents Kinova's modular robotic systems, including the robots JACO2 and MICO2, actuators and grippers. Kinova designs and manufactures robotics platforms and components that are simple, sexy and safe under two business units: Assistive Robotics empowers people living with disabilities to push beyond their current boundaries and limitations while Service Robotics empowers people in industry to interact with their environment more efficiently and safely. Kinova is based in Boisbriand, Québec, Canada. Its technologies are exploited in over 25 countries and are used in many applications, including as service robotics, physical assistance, medical applications, mobile manipulation, rehabilitation, teleoperation and in research in different areas such as computer vision, artificial intelligence, grasping, planning and control interfaces. The article describes Kinova's hardware platforms, their different control modes (position, velocity and torque), control features and possible control interfaces. Integration to other systems and application examples are also presented.
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Carbone, Giuseppe, Franco Tedeschi, Arturo Gallozzi, and Michela Cigola. "A Robotic Mobile Platform for Service Tasks in Cultural Heritage." International Journal of Advanced Robotic Systems 12, no. 7 (July 10, 2015): 88. http://dx.doi.org/10.5772/60527.

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Bogue, Robert. "Cloud robotics: a review of technologies, developments and applications." Industrial Robot: An International Journal 44, no. 1 (January 16, 2017): 1–5. http://dx.doi.org/10.1108/ir-10-2016-0265.

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Purpose This paper aims to provide an insight into the current state of cloud robotics developments, technology and applications. Design/methodology/approach Following a short introduction, this paper first considers the potential benefits of cloud robotics. It discusses cloud service providers and then considers a range of recent applications and developments involving humanoid, mobile and industrial robots. This is followed by details of some recent market entrants and their developments. Finally, brief concluding comments are drawn. Findings Cloud robotics is a rapidly developing technology made possible by the current ubiquitous internet connectivity and the growing number of powerful cloud computing services available. Benefits include access to big data sets, open-source algorithms, code and programmes, massively powerful parallel or grid computing and the sharing of information between robots. The technology has been applied successfully to humanoid, industrial, mobile and other classes of robots, often through direct collaborations between robot manufacturers and major IT companies. Several new companies have been established in very recent years to exploit the capabilities of cloud robotic technologies. Originality/value Cloud robotics is a highly topical and rapidly developing field, and this paper provides a detailed insight into recent developments and applications.
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Oksa, Petri Tapani, and Tarmo Lipping. "Reliability of ROS Networked Mobile Robots." International Journal of Open Source Software and Processes 10, no. 1 (January 2019): 34–48. http://dx.doi.org/10.4018/ijossp.2019010103.

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When working remotely with mobile robotics, a reliable wireless communication network becomes essential, especially in large operating regions. As most teleoperated robots rely on standard Wi-Fi communication, network behavior has a crucial effect on autonomous robot control. The main goal of this research is to measure and diagnose the system reliability, roaming issues, and bottlenecks of such data transmission. To study these significant factors, two measurement scenarios were conducted. Measurements consist of two Wi-Fi access points (AP) and a TurtleBot II robot used in two different system set-up configurations. In the first configuration, two APs are connected in bridge mode (LAN connection) and in the second configuration the APs are connected in WDS bridge (Wireless Data Distribution) mode. This article presents the results of Robot Operating System (ROS) IEEE 802.11 network measurements in roaming mode, in wireless bridge mode, and in an extended coverage area employed in WDS mode. Results of data transmission measurements, configurations, and evaluation of the entire system are also presented. All the measurements utilize the Open Cloud Robotic Platform (OpenCRP)1 an open-source cloud robotics ecosystem based on service-oriented PaaS architecture using the Ubuntu Linux operating system.
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Ho, Dinh-Khanh, Karim Ben Chehida, Benoit Miramond, and Michel Auguin. "Learning-Based Adaptive Management of QoS and Energy for Mobile Robotic Missions." International Journal of Semantic Computing 13, no. 04 (December 2019): 513–39. http://dx.doi.org/10.1142/s1793351x19400221.

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Mobile robotic systems are normally confronted with the shortage of on-board resources such as computing capabilities and energy, as well as significantly influenced by the dynamics of surrounding environmental conditions. This context requires adaptive decisions at run-time that react to the dynamic and uncertain operational circumstances for guaranteeing the performance requirements while respecting the other constraints. In this paper, we propose a reinforcement learning (RL)-based approach for Quality of Service QoS and energy-aware autonomous robotic mission manager. The mobile robotic mission manager leverages the idea of (RL) by monitoring actively the state of performance and energy consumption of the mission and then selecting the best mapping parameter configuration by evaluating an accumulative reward feedback balancing between QoS and energy. As a case study, we apply this methodology to an autonomous navigation mission. Our simulation results demonstrate the efficiency of the proposed management framework and provide a promising solution for the real mobile robotic systems.
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Šarloši, Juraj, Róbert Surovec, Ondrej Šimko, Jaromír Jezný, Ladislav Vargovčík, and Martin Varga. "Early-Stage Design of Robotic Manipulator Using Dual Visual Perception." Applied Mechanics and Materials 611 (August 2014): 316–24. http://dx.doi.org/10.4028/www.scientific.net/amm.611.316.

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Many service mobile robots have an articulated robotic manipulator mounted on their platform. The mobile platform extends the workspace of the arm, whereas the arm offers several operational functionalities. The basic idea is to mount two cameras to the robotic arm. One camera provides the perception of the surrounding environment and navigation of the robot, the second one located on the robot arm provides for the perception of the object of cooperation. This paper deals with an early-stage design process of the mentioned robotic manipulator using dual visual perception. It includes kinematic, dynamic and stress-strength analysis. For the kinematic analysis the homogeneous matrix method and for dynamic analysis the Newton-Euler method has been used. These analyses are required for control solution.
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Pransky, Joanne. "The Pransky interview: Dr Steve Cousins, CEO, Savioke, Entrepreneur and Innovator." Industrial Robot: An International Journal 43, no. 1 (January 18, 2016): 1–5. http://dx.doi.org/10.1108/ir-11-2015-0196.

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Purpose – The following paper is a “Q & A interview” conducted by Joanne Pransky of Industrial Robot Journal as a method to impart the combined technological, business and personal experience of a prominent, robotic industry engineer-turned successful business leader, regarding the commercialization and challenges of bringing technological inventions to market while overseeing a company. The paper aims to discuss these issues. Design/methodology/approach – The interviewee is Dr Steve Cousins, a seasoned executive, entrepreneur and innovator with a strong track record for managing research and development organizations and realizing a significant return on investment. Dr Cousins has dedicated the past near-decade of his life to the mission of building and deploying personal and service robotic technology to assist people. In this interview, Dr Cousins discusses some of the technical and business insights that have led to his most recent robotic advancements as Chief Executive Officer (CEO) of Savioke, a company that is creating autonomous robot helpers for the services industry. Findings – Dr Cousins received his BS and MS degrees in computer science from Washington University, and holds a PhD in computer science from Stanford University. Dr Cousins managed the Advanced Systems Development Laboratory at the Xerox Palo Alto Research Center (PARC) and then went on to lead the IBM Almaden Research Center, one of the top human–computer interaction research groups in the world, as the Senior Manager of the User-Focused Systems Research Group. While at IBM, Dr Cousins earned a micro-MBA. Originality/value – Dr Cousins is spearheading a new business model for robotics, Robots as a Service (RaaS), with Savioke’s flagship mobile robot, Relay. Based on the information technology industry service trend of improving customer experiences, Savioke is successfully applying RaaS to the hospitality industry with about 10 Relays at half a dozen US major hotels. Before founding Savioke, Dr Cousins was the President and CEO of Willow Garage, where he oversaw the creation of the robot operating system (ROS), the PR2 robot and the open-source TurtleBot. In the last three years of his tenure at Willow Garage, Dr Cousins spun off eight successful companies: Suitable Technologies (maker of the Beam remote presence system); Industrial Perception, Inc. (acquired by Google in 2013); Redwood Robotics (acquired by Google in 2013); HiDOF (ROS and robotics consulting); Unbounded Robotics; The Open Source Robotics Foundation; The OpenCV Foundation; and The Open Perception Foundation. Dr Cousins is an active participant in the Robots for Humanity project.
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Dudek, Wojciech, and Wojciech Szynkiewicz. "Cyber-security for Mobile Service Robots – Challenges for Cyber-physical System Safety." Journal of Telecommunications and Information Technology 2 (June 28, 2019): 29–36. http://dx.doi.org/10.26636/jtit.2019.131019.

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A review of the known and an indication of the new threats for cyber-physical robotic systems, caused by cybernetic attacks, serves, in this paper, as a basis for the analysis of the known methods relied upon to detect and mitigate consequences of such attacks. A particular emphasis is placed on threats specific for cyber-physical systems, as they are a feature distinguishing these systems from their traditional Information and Communication Technologies (ICT) counterparts. Based on the review of literature and own analyses, unresolved issues regarding the cyber-security of robot systems are presented and discussed.
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Dissertations / Theses on the topic "Mobile Service Robotic"

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Trevor, Alexander J. B. "Semantic mapping for service robots: building and using maps for mobile manipulators in semi-structured environments." Diss., Georgia Institute of Technology, 2015. http://hdl.handle.net/1853/53583.

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Although much progress has been made in the field of robotic mapping, many challenges remain including: efficient semantic segmentation using RGB-D sensors, map representations that include complex features (structures and objects), and interfaces for interactive annotation of maps. This thesis addresses how prior knowledge of semi-structured human environments can be leveraged to improve segmentation, mapping, and semantic annotation of maps. We present an organized connected component approach for segmenting RGB-D data into planes and clusters. These segments serve as input to our mapping approach that utilizes them as planar landmarks and object landmarks for Simultaneous Localization and Mapping (SLAM), providing necessary information for service robot tasks and improving data association and loop closure. These features are meaningful to humans, enabling annotation of mapped features to establish common ground and simplifying tasking. A modular, open-source software framework, the OmniMapper, is also presented that allows a number of different sensors and features to be combined to generate a combined map representation, and enabling easy addition of new feature types.
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ROSA, STEFANO. "Localization and Mapping for Service Robotics Applications." Doctoral thesis, Politecnico di Torino, 2014. http://hdl.handle.net/11583/2542488.

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In this work we address different techniques for autonomous navigation of single and multi-robot systems in unstructured indoor environments. The first problem that we address is the problem of robot localization. We first show how a multi-robot localization approach can speed up the process as well as introducing robustness to failures. At the same time we show the possibility to introduce some sort of insight into the algorithm. We then focus on increasing the robustness of single robot localization, by taking advantage of sensor fusion and by exploiting visual markers embedded in the environment. We then show how the approach can be extended from ad-hoc markers to an arbitrary set of pre-existing objects already present in the environment. Then we address the more complicated problem of Simultaneous Localization and Mapping. In particular we focus on a promising technique called Graph-SLAM and we show the implementation of a front-end for this optimization technique in order to create a real online SLAM approach. The last part of the thesis is devoted to another part of service robotics which is not directly related to navigation: Human Robot Interaction (HRI). While this field of robotics is not strictly related to autonomous navigation, some part of it can be, such as the case of user following and object tracking. In Chapter 4 we discuss the implementation of an adaptive people tracking algorithm tailored for user tracking and following. We also show how this algorithm can easily be extended to the case of generic object tracking for human-robot cooperation.
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Coelho, Paulo Rodolfo da Silva Leite. "Uma arquitetura orientada a serviços para laboratorios de acesso remoto." [s.n.], 2006. http://repositorio.unicamp.br/jspui/handle/REPOSIP/258974.

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Orientadores: Eleri Cardozo, Eliane Gomes Guimarães
Dissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Eletrica e de Computação
Made available in DSpace on 2018-08-08T01:18:40Z (GMT). No. of bitstreams: 1 Coelho_PauloRodolfodaSilvaLeite_M.pdf: 3632525 bytes, checksum: 73b0d774d1efd6416d8fb34cc8abd4d7 (MD5) Previous issue date: 2006
Resumo: Este trabalho apresenta uma arquitetura para a construção de laboratórios de acesso remoto (conhecidos como WebLabs). A arquitetura segue o paradigma de computação orientada a serviço (COS). Nesta abordagem cada recurso físico ou lógico do laboratório é modelado como um Serviço Web. Desta forma, os experimentos podem ser disponibilizados pela composição destes serviços. Um modelo conceitual para WebLabs, bem como a implementação deste modelo são apresentados. Experimentos em robótica móvel também foram desenvolvidos como exemplos de utilização deste laboratório
Abstract: This work presents an architeture for building remote access laboratories (also known as WebLabs). The architecture follows the service oriented computing (SOC). In this approach each logical or physical resource of the laboratory is modeled as a Web Service. In this way, the experiments are built through the composition of such services. A conceptual model of WebLabs, as well as an implementation of this model are presented. Experiments in mobile robotic were also developed for this laboratory
Mestrado
Engenharia de Computação
Mestre em Engenharia Elétrica
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Feitosa, Daniel. "SiMuS - Uma arquitetura de referência para sistemas multirrobóticos de serviço." Universidade de São Paulo, 2013. http://www.teses.usp.br/teses/disponiveis/55/55134/tde-18042013-151002/.

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Atualmente, os sistemas robóticos têm sido necessários para uma diversidade de novos produtos, como em robôs de serviço e em robôs para ambientes perigosos. Como consequência, um aumento da complexidade desses sistemas e observada, exigindo também atenção considerável para a qualidade e a produtividade. Vale destacar que a complexidade de parte desses sistemas decorre, parcial ou totalmente, da necessidade de se utilizar diversos robôs para compor a solução. Em outra perspectiva, arquiteturas de referência surgiram como um tipo especial de arquitetura de software que consegue agregar conhecimento de domínios específicos, facilitando o desenvolvimento, padronização e evolução de sistemas de software. Nessa perspectiva, arquiteturas de referência foram também propostas para o domínio de robótica e de têm sido consideradas como um elemento importante para o desenvolvimento de sistemas para esse domínio. No entanto, existe uma falta de arquiteturas de referência especializadas em sistemas multirrobóticos de serviço. Assim, a principal contribuição desse trabalho e o apoio ao desenvolvimento de sistemas multirrobóticos de serviço. Para isso, o principal resultado, aqui apresentado, e o estabelecimento da SiMuS, uma arquitetura de referência que agrega o conhecimento e a experiência de como organizar sistemas multirrobóticos de serviço, visando a escalabilidade, evolução e reuso. Para o estabelecimento dessa arquitetura, foi utilizado o ProSA-RA, um processo que sistematiza o projeto, representação e avaliação de arquiteturas de referência. Resultados alcançados por uma inspeção, por meio de checklist, e estudo de caso conduzidos evidenciam que a SiMuS e uma arquitetura de referência viável e reusável para o desenvolvimento de sistemas multirrobóticos de serviço
Currently, robotic systems have been more and more required for a diversity of new products, such as in service robots and in robots for dangerous environments. As a consequence, an increase in the complexity of these systems is observed, requiring also considerable attention to their quality and productivity. One of the main complexities faced by systems is the problem of control multiple robots to complete a task. In another perspective, reference architectures have emerged as a special type of software architecture that achieves well-recognized understanding of specific domains, facilitating the development, standardization, and evolution of software systems. In this perspective, reference architectures have also been proposed for the robotic domain and they have been considered an important element to the development of systems for that domain. However, there is a lack of reference architectures specialized in multi-robotic systems for service robots. Thus, the main contribution of this work is to support the development of multi-robotic for service robots. For that, the main result presented here is the establishment of SiMuS, a reference architecture that combines the knowledge and experience of how to organize multi-robotic systems for service robots, aiming at scalability, evolution and reuse. For establishing this architecture, was used the ProSA-RA, a process that systematizes the design, representation and evaluation of reference architectures. Results achieved by a checklist inspection and case study conduction, show that the SiMuS is a viable and reusable reference architecture for developing multi-robotic systems service robots
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Ho, Dinh Khanh. "Gestion des ressources et de l’énergie orientée qualité de service pour les systèmes robotiques mobiles autonomes." Thesis, Université Côte d'Azur, 2020. http://www.theses.fr/2020COAZ4000.

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Les systèmes robotiques mobiles autonomes deviennent de plus en plus complexes avec l’intégration de composants de capteurs et d’actionneurs et de fonctionnalités avancées pour effectuer les missions réelles. Pour ces systèmes techniques, les exigences sont divisées en deux catégories : les exigences fonctionnelles et les exigences non-fonctionnelles. Alors que les exigences fonctionnelles représentent ce que le robot doit faire pour accomplir la mission, les exigences non-fonctionnelles représentent la façon dont le robot exécute la mission. Ainsi, la qualité de service et l’efficacité énergétique d’une mission robotique sont classées dans cette catégorie. L’autonomie de ces systèmes est pleinement atteinte lorsque les exigences fonctionnelles et non-fonctionnelles sont garanties sans aucune intervention humaine ni aucun contrôle externe. Cependant, ces systèmes mobiles sont naturellement confrontés à des contraintes de disponibilité des ressources et de capacité énergétique, notamment dans le cadre de mission à longue durée, ces contraintes deviennent plus critiques. De plus, la performance de ces systèmes est également influencée par des conditions environnementales inattendues et non structurées dans lesquelles ils interagissent. La gestion des ressources et de l’énergie en cours de mission est donc un défi pour les robots mobiles autonomes afin de garantir les objectifs de performance souhaités tout en respectant les contraintes. Dans ce contexte, la capacité du système robotique à prendre conscience de ses propres comportements internes et de son environnement physique et à s’adapter à ces circonstances dynamiques devient importante.Cette thèse porte sur la qualité de service et l’efficacité énergétique des systèmes robotiques mobiles et propose une gestion hiérarchique en cours d’exécution afin de garantir ces objectifs non-fonctionnels de chaque mission robotique. Au niveau de la gestion locale de chaque mission, un MISSION MANAGER utilise un mécanisme de prise de décision fondé sur l’apprentissage par renforcement pour reconfigurer automatiquement certains paramètres clés propres à la mission afin de minimiser le niveau de violation des objectifs de performance et des objectifs énergétiques requis. Au niveau de la gestion globale de l’ensemble du système, un MULTI-MISSION MANAGER s’appuie sur des règles de prise de décision et des techniques de raisonnement par cas pour suivre les ressources du système et les réponses des MISSION MANAGERs afin de décider de réallouer le budget énergétique, de régler la qualité du service et de déclencher l’apprentissage en ligne pour chaque mission robotique. La méthodologie proposée a été prototypée et validée avec succès dans un environnement de simulation et le cadre de gestion est également intégré dans notre système robotique mobile réel basé sur une base mobile de Pioneer-3DX équipée d’une plate-forme embarquée de NVIDIA Jetson Xavier
Mobile robotic systems are becoming more and more complex with the integration of advanced sensing and acting components and functionalities to perform the real required missions. For these technical systems, the requirements are divided into two categories: functional and non-functional requirements. While functional requirements represent what the robot must do to accomplish the mission, non-functional requirements represent how the robot performs the mission. Thus, the quality of service and energy efficiency of a robotic mission are classified in this category. The autonomy of these systems is fully achieved when both functional and non-functional requirements are guaranteed without any human intervention or any external control. However, these mobile systems are naturally confronted with resource availability and energy capacity constraints, particularly in the context of long-term missions, these constraints become more critical. In addition, the performance of these systems is also influenced by unexpected and unstructured environmental conditions in which they interact. The management of resources and energy during operation is therefore a challenge for autonomous mobile robots in order to guarantee the desired performance objectives while respecting constraints. In this context, the ability of the robotic system to become aware of its own internal behaviors and physical environment and to adapt to these dynamic circumstances becomes important.This thesis focuses on the quality of service and energy efficiency of mobile robotic systems and proposes a hierarchical run-time management in order to guarantee these non-functional objectives of each robotic mission. At the local management level of each robotic mission, a Mission Manager employs a reinforcement learning-based decision-making mechanism to automatically reconfigure certain key mission-specific parameters to minimize the level of violation of required performance and energy objectives. At the global management level of the whole system, a Multi-Mission Manager leveraged rule-based decision-making and case-based reasoning techniques monitors the system's resources and the responses of Mission Managers in order to decide to reallocate the energy budget, regulate the quality of service and trigger the online learning for each robotic mission.The proposed methodology has been successfully prototyped and validated in a simulation environment and the run-time management framework is also integrated into our real mobile robotic system based on a Pioneer-3DX mobile base equipped with an embedded NVIDIA Jetson Xavier platform
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BOTTA, ANDREA. "Agri.Q - Sustainable Rover for Precision Agriculture." Doctoral thesis, Politecnico di Torino, 2022. http://hdl.handle.net/11583/2963950.

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Corominas, Murtra Andreu. "Map-based localization for urban service mobile robotics." Doctoral thesis, Universitat Politècnica de Catalunya, 2011. http://hdl.handle.net/10803/41555.

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Mobile robotics research is currently interested on exporting autonomous navigation results achieved in indoor environments, to more challenging environments, such as, for instance, urban pedestrian areas. Developing mobile robots with autonomous navigation capabilities in such urban environments supposes a basic requirement for a upperlevel service set that could be provided to an users community. However, exporting indoor techniques to outdoor urban pedestrian scenarios is not evident due to the larger size of the environment, the dynamism of the scene due to pedestrians and other moving obstacles, the sunlight conditions, and the high presence of three dimensional elements such as ramps, steps, curbs or holes. Moreover, GPS-based mobile robot localization has demonstrated insufficient performance for robust long-term navigation in urban environments. One of the key modules within autonomous navigation is localization. If localization supposes an a priori map, even if it is not a complete model of the environment, localization is called map-based. This assumption is realistic since current trends of city councils are on building precise maps of their cities, specially of the most interesting places such as city downtowns. Having robots localized within a map allows for a high-level planning and monitoring, so that robots can achieve goal points expressed on the map, by following in a deliberative way a previously planned route. This thesis deals with the mobile robot map-based localization issue in urban pedestrian areas. The thesis approach uses the particle filter algorithm, a well-known and widely used probabilistic and recursive method for data fusion and state estimation. The main contributions of the thesis are divided on four aspects: (1) long-term experiments of mobile robot 2D and 3D position tracking in real urban pedestrian scenarios within a full autonomous navigation framework, (2) developing a fast and accurate technique to compute on-line range observation models in 3D environments, a basic step required by the real-time performance of the developed particle filter, (3) formulation of a particle filter that integrates asynchronous data streams and (4) a theoretical proposal to solve the global localization problem in an active and cooperative way, defining cooperation as either information sharing among the robots or planning joint actions to solve a common goal.
Actualment, la recerca en robòtica mòbil té un interés creixent en exportar els resultats de navegació autònoma aconseguits en entorns interiors cap a d'altres tipus d'entorns més exigents, com, per exemple, les àrees urbanes peatonals. Desenvolupar capacitats de navegació autònoma en aquests entorns urbans és un requisit bàsic per poder proporcionar un conjunt de serveis de més alt nivell a una comunitat d'usuaris. Malgrat tot, exportar les tècniques d'interiors cap a entorns exteriors peatonals no és evident, a causa de la major dimensió de l'entorn, del dinamisme de l'escena provocada pels peatons i per altres obstacles en moviment, de la resposta de certs sensors a la il.luminació natural, i de la constant presència d'elements tridimensionals tals com rampes, escales, voreres o forats. D'altra banda, la localització de robots mòbils basada en GPS ha demostrat uns resultats insuficients de cara a una navegació robusta i de llarga durada en entorns urbans. Una de les peces clau en la navegació autònoma és la localització. En el cas que la localització consideri un mapa conegut a priori, encara que no sigui un model complet de l'entorn, parlem d'una localització basada en un mapa. Aquesta assumpció és realista ja que la tendència actual de les administracions locals és de construir mapes precisos de les ciutats, especialment dels llocs d'interés tals com les zones més cèntriques. El fet de tenir els robots localitzats en un mapa permet una planificació i una monitorització d'alt nivell, i així els robots poden arribar a destinacions indicades sobre el mapa, tot seguint de forma deliberativa una ruta prèviament planificada. Aquesta tesi tracta el tema de la localització de robots mòbils, basada en un mapa i per entorns urbans peatonals. La proposta de la tesi utilitza el filtre de partícules, un mètode probabilístic i recursiu, ben conegut i àmpliament utilitzat per la fusió de dades i l'estimació d'estats. Les principals contribucions de la tesi queden dividides en quatre aspectes: (1) experimentació de llarga durada del seguiment de la posició, tant en 2D com en 3D, d'un robot mòbil en entorns urbans reals, en el context de la navegació autònoma, (2) desenvolupament d'una tècnica ràpida i precisa per calcular en temps d'execució els models d'observació de distàncies en entorns 3D, un requisit bàsic pel rendiment del filtre de partícules a temps real, (3) formulació d'un filtre de partícules que integra conjunts de dades asíncrones i (4) proposta teòrica per solucionar la localització global d'una manera activa i cooperativa, entenent la cooperació com el fet de compartir informació, o bé com el de planificar accions conjuntes per solucionar un objectiu comú.
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8

Fetzek, Charles A. "Behavior-based power management in autonomous mobile robots." Wright-Patterson AFB : Air Force Institute of Technology, 2008. http://handle.dtic.mil/100.2/ADA487084.

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Chebab, Zine Elabidine. "Conception et commande collaborative de manipulateurs mobiles modulaires (C3M3)." Thesis, Université Clermont Auvergne‎ (2017-2020), 2018. http://www.theses.fr/2018CLFAC070/document.

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Dans un contexte d’Industrie 4.0, on perçoit de nouveaux usages possibles des manipulateurs mobiles (MMs), des robots généralement obtenus par l’association d’un bras manipulateur et d’une plate-forme mobile. Ce travail de thèse se focalise sur la synthèse et la commande de nouveaux MMs coopératifs en définissant trois défis à relever. Le premier défi concerne l’élargissement des domaines d’utilisation des robots par la possibilité de leur utilisation coopérative. Nous définissons ainsi un système robotique modulaire basé sur l’utilisation d’entités robotiques appelés mono-robots (m-bots). Ceux-ci sont des MMs qui peuvent se réarranger sous forme de poly-robot (p-bot) pour réaliser une tâche en collaboration. Le deuxième défi se focalise sur la définition de l’architecture cinématique élémentaire de ces robots. Ainsi, nous proposons une démarche générique de synthèse structurale qui permet l’obtention de plusieurs architectures de m-bots respectant les cahiers des charges relatifs à la tâche en tant que m-bot, mais aussi en tant que p-bot pour un environnement considéré. Cette démarche est basée sur l’analyse structurale des MMs à l’aide des paramètres structuraux des mécanismes (connectivité, mobilité, redondance et hyperstatisme). Le troisième défi proposé est d’arriver à modéliser et contrôler les architectures de MMs synthétisées pour la tâche. Deux lois de commande (PID et hybride force-position) sont proposées pour la réalisation de la tâche considérée. Leur validation a été réalisée grâce à des simulations avancées
In recent years, the concept of Industry 4.0 has led to new possibilities of use for mobile manipulators (MMs) that are generally made of a manipulator arm mounted on a mobile base. The current Ph.D. is focused on the synthesis and control of new cooperative MMs by defining three challenges. The first challenge concerns the widening of the fields of application of robots. Therefore, we define a modular robotic system based on the use of multiple MMs (mono robots or m-bots) that can be used as a global system (poly-robot or p-bot) for collaborative tasks. The second challenge concerns the definition of the kinematic structure of the MMs. We propose a new generic method of structural synthesis that allows to obtain multiple kinematic architectures for m-bots that respect the constraints imposed by the task and the workspace. This method is based on structural analysis of MMs by the evaluation of the structural parameters (connectivity, mobility, redundancy and overconstraint). The last challenge concerns the modelling and control of the new architectures for the new fields of application. Two control laws (PID control and hybrid force-position control) are proposed in order to realise the considered task. Their validation is done with advanced simulations
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10

Gomes, Pedro Miguel de Barros. "LADAR based mapping and obstacle detection system for service robots." Master's thesis, Faculdade de Ciências e Tecnologia, 2010. http://hdl.handle.net/10362/4589.

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Dissertação apresentada na Faculdade de Ciências e Tecnologia da Universidade Nova de Lisboa para a obtenção do grau de Mestre em Engenharia Electrotécnica e de Computadores
When travelling in unfamiliar environments, a mobile service robot needs to acquire information about his surroundings in order to detect and avoid obstacles and arrive safely at his destination. This dissertation presents a solution for the problem of mapping and obstacle detection in indoor/outdoor structured3 environments, with particular application on service robots equipped with a LADAR. Since this system was designed for structured environments, offroad terrains are outside the scope of this work. Also, the use of any a priori knowledge about LADAR’s surroundings is discarded, i.e. the developed mapping and obstacle detection system works in unknown environments. In this solution, it is assumed that the robot, which carries the LADAR and the mapping and obstacle detection system, is based on a planar surface which is considered to be the ground plane. The LADAR is positioned in a way suitable for a three dimensional world and an AHRS sensor is used to increase the robustness of the system to variations on robot’s attitude, which, in turn, can cause false positives on obstacle detection. The results from the experimental tests conducted in real environments through the incorporation on a physical robot suggest that the developed solution can be a good option for service robots driving in indoor/outdoor structured environments.
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Books on the topic "Mobile Service Robotic"

1

Nikos, Katevas, ed. Mobile robotics in healthcare. Amsterdam: IOS Press, 2001.

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International Conference on Field and Service Robotics (7th 2009 Cambridge, Mass.). Field and service robotics: Results of the 7th international conference. Berlin: Springer Verlag, 2010.

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Ichi jōhō no katsuyō to ryūtsū: Robotto sābisu ni yoru katsuyō no henkaku. Tōkyō: Ōmusha, 2010.

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Bayoud, Fadi Atef. Development of a robotic mobile mapping system by vision-aided inertial navigation: A geomatics approach. Zürich: Institut für Geodäsie und Photogrammetrie, Eidgenössische Technische Hochschule Zürich, 2006.

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Development of a robotic mobile mapping system by vision-aided inertial navigation: A geomatics approach. Zürich: Institut für Geodäsie und Photogrammetrie, Eidgenössische Technische Hochschule Zürich, 2006.

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Kauppi, Ilkka. Intermediate language for mobile robots: A link between the high-level planner and low-level services in robots. Espoo [Finland]: VTT Technical Research Centre of Finland, 2003.

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Kim, Tai-hoon. U- and E-Service, Science and Technology: International Conference UNESST 2010, Held as Part of the Future Generation Information Technology Conference, FGIT 2010, Jeju Island, Korea, December 13-15, 2010. Proceedings. Berlin, Heidelberg: Springer Berlin Heidelberg, 2010.

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Jarek, Wilkiewicz, Nahapetian Ani, and SpringerLink (Online service), eds. Mobile Computing, Applications, and Services: Third International Conference, MobiCASE 2011, Los Angeles, CA, USA, October 24-27, 2011. Revised Selected Papers. Berlin, Heidelberg: Springer Berlin Heidelberg, 2012.

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Guang, Yang, and SpringerLink (Online service), eds. Mobile Computing, Applications, and Services: Second International ICST Conference, MobiCASE 2010, Santa Clara, CA, USA, October 25-28, 2010, Revised Selected Papers. Berlin, Heidelberg: Springer Berlin Heidelberg, 2012.

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Max, Ott, Seneviratne Aruna, and SpringerLink (Online service), eds. Mobile and Ubiquitous Systems: Computing, Networking, and Services: 7th International ICST Conference, MobiQuitous 2010, Sydeny, Australia, December 6-9, 2010, Revised Selected Papers. Berlin, Heidelberg: Springer Berlin Heidelberg, 2012.

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Book chapters on the topic "Mobile Service Robotic"

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Westhoff, Daniel, and Jianwei Zhang. "A Unified Robotic Software Architecture for Service Robotics and Networks of Smart Sensors." In Autonome Mobile Systeme 2007, 126–32. Berlin, Heidelberg: Springer Berlin Heidelberg, 2007. http://dx.doi.org/10.1007/978-3-540-74764-2_20.

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Ang, Wei Tech, and Ming Xie. "Mobile Robotic Hand-Eye Co-ordination Platform: Design and Modelling." In Field and Service Robotics, 308–14. London: Springer London, 1998. http://dx.doi.org/10.1007/978-1-4471-1273-0_47.

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Carbonari, Luca, Luigi Tagliavini, Andrea Botta, Paride Cavallone, and Giuseppe Quaglia. "Preliminary Observations for Functional Design of a Mobile Robotic Manipulator." In Advances in Service and Industrial Robotics, 39–46. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-75259-0_5.

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Carbonari, Luca, Andrea Botta, Paride Cavallone, and Giuseppe Quaglia. "Functional Design of a Novel Over-Actuated Mobile Robotic Platform for Assistive Tasks." In Advances in Service and Industrial Robotics, 380–89. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-48989-2_41.

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Pavel, Mihai-Daniel, Sabin Roșioru, Nicoleta Arghira, and Grigore Stamatescu. "Control of Open Mobile Robotic Platform Using Deep Reinforcement Learning." In Service Oriented, Holonic and Multi-Agent Manufacturing Systems for Industry of the Future, 368–79. Cham: Springer International Publishing, 2023. http://dx.doi.org/10.1007/978-3-031-24291-5_29.

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Cornelius, Gary, Patrice Caire, Nico Hochgeschwender, Miguel A. Olivares-Mendez, Paulo Esteves-Verissimo, Marcus Völp, and Holger Voos. "A Perspective of Security for Mobile Service Robots." In ROBOT 2017: Third Iberian Robotics Conference, 88–100. Cham: Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-70833-1_8.

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Thorpe, Chuck. "Mobile Robots and Smart Cars." In Field and Service Robotics, 1–5. London: Springer London, 1998. http://dx.doi.org/10.1007/978-1-4471-1273-0_1.

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Billingsley, John, Jason Stone, and John Hilton. "A mobile robot for training horses." In Field and Service Robotics, 129–32. London: Springer London, 1998. http://dx.doi.org/10.1007/978-1-4471-1273-0_21.

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Austin, David J., and Brenan J. McCarragher. "Discrete Event Control for Mobile Robots." In Field and Service Robotics, 350–55. London: Springer London, 1998. http://dx.doi.org/10.1007/978-1-4471-1273-0_53.

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Ellman, Asko. "Designing Mobile Work Machines in Cyber Space." In Service Robotics and Mechatronics, 1–5. London: Springer London, 2010. http://dx.doi.org/10.1007/978-1-84882-694-6_1.

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Conference papers on the topic "Mobile Service Robotic"

1

Ghim, Yong-Gyun. "Designing Mobile Robots: A Systems Thinking Approach for Industrial Designers." In 13th International Conference on Applied Human Factors and Ergonomics (AHFE 2022). AHFE International, 2022. http://dx.doi.org/10.54941/ahfe1002024.

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With robots’ presence gradually expanding to homes and public spaces, there are increasing needs for new robot development and design. Mobile robots’ autonomous and dynamic behaviors ask for new design approaches and methods that are different from the ones for designing non-robotic products. This study proposes a methodology for designing mobile robots from a systems thinking perspective to supplement the limitation of traditional industrial design approaches. A conceptual framework consisting of user, robot, and environment is proposed and task flow models are built to help designers analyze and specify complex interactions between multiple system elements. A robot system blueprint, a storyboard, and a system map are subsequently introduced to design and represent a product-service system of a robot holistically. This approach was applied to student projects for mobile robot design in a fourth-year studio course at a university’s industrial design program.
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DeCorte, Celeste. "Meeting the challenges of installing a mobile robotic system." In Conference on Intelligent Robots in Factory, Field, Space, and Service. Reston, Virigina: American Institute of Aeronautics and Astronautics, 1994. http://dx.doi.org/10.2514/6.1994-1187.

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Wang, Peng, Junwei Tian, Haoyu Niu, and YangQuan Chen. "Smart Agricultural In-Field Service Robot: From Toy to Tool." In ASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2019. http://dx.doi.org/10.1115/detc2019-97497.

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Abstract A low-cost and multi-functional ground mobile robot is presented for precision agricultural application. A modified toy car is used as the hardware platform, and robotic operating system (ROS) as the software platform. By adding sensors and end effector, the robot can be controlled remotely. Our vision is to build an autonomous in-field service robot to realize some specific tasks instead of farmers.
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Kyeong-Won Jeon, Yong-Moo Kwon, and Hanseok Ko. "Mobile phone based interactive 3D virtual URS (Ubiquitous Robotic Space) service." In 2007 International Conference on Control, Automation and Systems. IEEE, 2007. http://dx.doi.org/10.1109/iccas.2007.4406640.

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Yuan, Ruiping, Huiling Wang, and Juntao Li. "The Pod Assignment Model and Algorithm in Robotic Mobile Fulfillment Systems." In 2019 IEEE International Conference on Service Operations and Logistics, and Informatics (SOLI). IEEE, 2019. http://dx.doi.org/10.1109/soli48380.2019.8955103.

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AZAIZ, RIDHA. "UNIFIER – UNIFIED ROBOTIC SYSTEM TO SERVICE SOLAR POWER PLANTS." In Proceedings of the Eleventh International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. WORLD SCIENTIFIC, 2008. http://dx.doi.org/10.1142/9789812835772_0136.

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Burget, F., L. D. J. Fiederer, D. Kuhner, M. Volker, J. Aldinger, R. T. Schirrmeister, C. Do, et al. "Acting thoughts: Towards a mobile robotic service assistant for users with limited communication skills." In 2017 European Conference on Mobile Robots (ECMR). IEEE, 2017. http://dx.doi.org/10.1109/ecmr.2017.8098658.

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Dyumin, Alexander A., Dmitry A. Liman, and Larisa I. Shustova. "The architecture for reliable log service for heterogeneous distributed mobile robotic systems." In 2017 IEEE Conference of Russian Young Researchers in Electrical and Electronic Engineering (EIConRus). IEEE, 2017. http://dx.doi.org/10.1109/eiconrus.2017.7910680.

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Wei, Guowu, Jie Sun, Xinsheng Zhang, Dirk Pensky, Justus Piater, and Jian S. Dai. "Metamorphic Hand Based Grasp Constraint and Affordance." In ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2015. http://dx.doi.org/10.1115/detc2015-46726.

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This paper presents the kinematics and grasp constraint and affordance of a newly designed mobile manipulator with a three-fingered metamorphic robotic hand. Structure design of the mobile manipulator, which contains a Robotino 3.0, a customised robot arm and a three-fingered metamorphic hand, is presented. Using mechanism decomposition, kinematics of the manipulator is formulated based on product-of-exponentials method and kinematics of the metamorphic hand is investigated leading to the construction of grasp constraint providing theoretical background for measuring grasp quality of the grasps predicted by the grasp-affordance model. Further, relation of the grasp-affordance model to the manipulator and hand kinematics with the associated grasp constraint are indicated linking the manipulator kinematics with the grasp-affordance model for object manipulation. The mobile manipulator proposed in this paper is to be used for toys tidying up in a child’s room with extended applications to the field of service robot in clutter clearing.
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Caliskanelli, Ipek, and Leandro Soares Indrusiak. "Using mobile robotic agents to increase service availability and extend network lifetime on WSRNs." In 2014 12th IEEE International Conference on Industrial Informatics (INDIN). IEEE, 2014. http://dx.doi.org/10.1109/indin.2014.6945544.

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