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Multirobot systems (MRS) are, nowadays, an important research area within robotics and artificial intelligence and a growing number of systems have recently been presented in the literature. Since application domains and tasks that are faced by MRS are of increasing complexity, the ability of the robots to cooperate can be regarded as a fundamental feature.(More)
Detecting, locating, and tracking people in a dynamic environment is important in many applications, ranging from security and environmental surveillance to assistance to people in domestic environments, to the analysis of human activities. To this end, several methods for tracking people have been developed in the field of Computer Vision using different(More)
Scan matching is used as a building block in many robotic applications, for localization and simultaneous localization and mapping (SLAM). Although many techniques have been proposed for scan matching in the past years, more efficient and effective scan matching procedures allow for improvements of such associated problems. In this paper we present a new(More)
Human Robot Interaction is a key enabling feature to support the introduction of robots in everyday environments. However, robots are currently incapable of building representations of the environments that allow both for the execution of complex tasks and for an easy interaction with the user requesting them. In this paper, we focus on semantic mapping,(More)
Visual surveillance in dynamic scenes is currently one of the most active research topics in computer vision and many existing applications are available. However, difficulties in realizing effective video surveillance systems that are robust to the many different conditions that arise in real environments, make the actual deployment of such systems very(More)
We describe a system that detects independently moving objects from a mobile platform in real time using a calibrated stereo camera. Interest points are first detected and tracked through the images. These tracks are used to obtain the motion of the platform by using an efficient three-point algorithm in a RANSAC framework for outlier detection. We use a(More)
“Exploration and search” is a typical task for autonomous robots performing in rescue missions, specifically addressing the problem of exploring the environment and at the same time searching for interesting features within the environment. In this paper, we model this problem as a multi-objective exploration and search problem and present a prototype(More)
Multi Robot Systems are, nowadays, an important research area within Robotics and Artificial Intelligence. Although Multi Robot Systems can be regarded as a particular case of Multi Agent Systems, it seems appropriate to study the Multi Robot Systems from a specific viewpoint, because of the issues which arise from the embodiment of agents operating in real(More)
Programming the behavior of multi-robot systems is a challenging task which has a key role in developing effective systems in many application domains. In this paper, we present Petri Net Plans (PNPs), a language based on Petri Nets (PNs), which allows for intuitive and effective robot and multi-robot behavior design. PNPs are very expressive and support a(More)