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This paper presents novel, highly efficient approaches for updating Euclidean distance maps and Voronoi diagrams represented on grid maps. Our methods employ a dynamic variant of the brushfire algorithm to update only those cells that are actually affected by changes in the environment. In experiments in different environments we show that our update(More)
With a growing number of robots deployed in populated environments, the ability to detect and track humans, recognize their activities, attributes and social relations are key components for future service robots. In this article we will consider fundamentals towards these goals and present several results using 2D range data. We first propose a learning(More)
Most methods for detecting that a process is running inside a virtual environment such as VMWare or Microsoft Virtual PC are well known and the paper briefly discusses the most common methods measured during the research. The measurements are conducted over a representative set of malicious files, with special regards to packer code. The results are broken(More)
People tracking is essential for robots that are supposed to interact with people. The majority of approaches track humans in the vicinity of the robot independently. However, people typically form groups that split and merge. These group formation processes reflect social relations and interactions that we seek to recognize in this paper. To this end, we(More)
This paper presents an approach to time-optimal kinodynamic motion planning for a mobile robot. A global path planner is used to generate collision-free straight-line paths from the robot's position to a given goal location. With waypoints of this path, an initial trajectory is generated which defines the planned position of the robot over time. A velocity(More)
This paper presents a novel approach to kino-dynamic trajectory generation for non-circular omnidirectional platforms that can be combined with existing path planners. We use quintic Bézier splines to specify position and orientation of the holonomic robot for every point in time. To fully exploit the capabilities of the holonomic robot we propose a(More)
People in densely populated environments typically form groups that split and merge. In this paper we track groups of people so as to reflect this formation process and gain efficiency in situations where maintaining the state of individual people would be intractable. We pose the group tracking problem as a recursive multi-hypothesis model selection(More)
In robotics, grid maps are often used for solving tasks like collision checking, path planning, and localization. Many approaches to these problems use Euclidean distance maps (DMs), generalized Voronoi diagrams (GVDs), or configuration space (c-space) maps. A key challenge for their application in dynamic environments is the efficient update after(More)
— This paper presents techniques to incrementally update collision maps, distance maps, and Voronoi diagrams in the configuration space of non-circular mobile robots. Compared to previous work, our approach only updates the cells affected by changes in the environment. Thus, it is applicable in large workspaces and in the presence of unknown or moving(More)