Jonas Nygårds

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This paper presents collaborative smoothing and mapping (C-SAM) as a viable approach to the multi-robot map- alignment problem. This method enables a team of robots to build joint maps with or without initial knowledge of their relative poses. To accomplish the simultaneous localization and mapping this method uses square root information smoothing (SRIS).(More)
Robust localization is a prerequisite for mobile robot autonomy. In many situations the GPS signal is not available and thus an additional localization system is required. A simple approach is to apply localization based on dead reckoning by use of wheel encoders but it results in large estimation errors. With exteroceptive sensors such as a laser range(More)
integration with the control system on board the robot, Uncertainty Propagation Our persistent experience fiom thb and earlier tests is The docking problem is well defined in the coordinates that the weak part when using ~on-contact senring for of the pallet. Thus, we start by the equations for how the feedback in robots is the association problem. It(More)
In this paper we propose a framework for autonomous path and sensor planning of a UAV performing a surveillance and exploration mission. Concurrent path and sensor planning is a very challenging problem, since realistic models of platforms, sensors and environment are very complex and inherently non-linear. Our approach is one attempt to address these(More)
A Survey of Planning Methods Applicable to UAV Surveillance FOI is an assignment-based authority under the Ministry of Defence. The core activities are research, method and technology development, as well as studies for the use of defence and security. The organization employs around 1350 people of whom around 950 are researchers. This makes FOI the largest(More)
This paper addresses the problem of aligning and fusing maps built by multiple robots. The proposed method for solving the multi-robot map alignment problem relies on inter-robot observations to seed the alignment processing and find a transformation between the map reference frames. The method enables one to join maps from robots with or without initial(More)
The use of cameras in surveillance is increasing in the last years due to the low cost of the sensor and the requirement by surveillance in public places. However, the manual analysis of this data is impracticable. Thus, automatic and robust methods to processing this high quantity of data are required. This paper proposes a framework to address this(More)