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This paper deals with the development of acoustic source localization algorithms for service robots working in real conditions. One of the main utilizations of these algorithms in a mobile robot is that the robot can localize a human operator and eventually interact with him/herself by means of verbal commands. The location of a speaking operator is(More)
Many real nonlinear systems are characterized by an infinite input signal memory. In such conditions, system modeling by means of recursive polynomial filters requires a much lower number of coefficients with respect to nonrecursive realizations. However, the main problem of recursive polynomial filters is their inherent instability. This letter describes(More)
We present a surveillance system that uses audio and video sensors to reveal and track the presence of an intruder in a off-limit area. The system is composed of a mobile agent and several static agents cooperating in the tracking task. The mobile agent is a vision agent composed of an omnidirectional vision system and a mobile robot. The mobile agents(More)
This paper describes the VHDL design of a sorting algorithm, aiming at defining an elementary sorting unit as a building block of VLSI devices which require a huge number of sorting units. As such, an attempt was made to reach a reasonable low value of the area-time parameter. A sorting VLSI device, in fact, can be built as a cascade of elementary sorting(More)
Recursive polynomial filters require a much lower number of coefficients with respect to nonrecursive realizations. However, the main problem of recursive polynomial filters is their inherent instability. In this paper sufficient stability conditions for recursive quadratic polynomial filters are reported. Moreover, an application to nonlinear system(More)
This paper describes a n experimental mobile robot with acoustic source localization capabilities for surveillance and transportation tasks in indoor environments. The location of a speaking operator i s detected via a microphone array based algorithm; localization information are passed t o a navigation module which sets up a navigation mission using(More)
This paper describes a real-time kernel for running embedded applications on a recent family of Motorola microcontrollers. Both periodic and aperiodic real-time tasks are managed, as well as non real-time tasks. The kernel has been called Yartos, and uses a hard real-time scheduling algorithm based on an EDF approach for the periodic task; aperiodic tasks(More)
This paper presents a Distributed Perception System for application of intelligent surveillance. The audio and video sensors distributed in the environment are used as a single sensor to reveal and track the presence of a person in the surveilled environment. The system prototype presented in this paper is composed of a static acoustic agent and a static(More)