Juhana Ahtiainen

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In this paper the development of an unmanned ground vehicle for task-oriented military applications is described. The instrumentation of the vehicle platform and observations from the teleoperation tests are presented, while the specific scope is in the analysis of the communication delay associated to the teleoperation. Safety aspects are addressed as well.
Human-robot interaction and safe operation requires human detection capability from a mobile robot. This paper presents a novel algorithm for detecting and tracking walking humans with a 2D LIDAR (Light Detection and Ranging) on a mobile robot. The horizontal LIDAR receives reflections of human legs taken from approximately the knee level. A list of(More)
In this chapter the development of an Unmanned Ground Vehicle (UGV) for task-oriented military applications is described. The instrumentation and software architecture of the vehicle platform, communication links, remote control station, and human-machine interface are presented along with observations from various field tests. Communication delay and(More)
In vegetated environments, reliable obstacle detection remains a challenge for state-of-the-art methods, which are usually based on geometrical representations of the environment built from LIDAR and/or visual data. In many cases, in practice field robots could safely traverse through vegetation, thereby avoiding costly detours. However, it is often(More)
Operating in vegetated environments is a major challenge for autonomous robots. Obstacle detection based only on geometric features causes the robot to consider foliage, for example, small grass tussocks that could be easily driven through, as obstacles. Classifying vegetation does not solve this problem since there might be an obstacle hidden behind the(More)
Safe and reliable autonomous navigation in unstructured environments remains a challenge for field robots. In particular, operating on vegetated terrain is problematic, because simple purely geometric traversability analysis methods typically classify dense foliage as nontraversable. As traversing through vegetated terrain is often possible and even(More)
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