Luigi Freda

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— We present a cooperative exploration strategy for mobile robots. The method is based on the randomized incremental generation of a collection of data structures called Sensor-based Random Trees, each representing a roadmap of an explored area with an associated safe region. Decentralized cooperation and coordination mechanisms are introduced so as to(More)
A novel vision-based scheme is presented for driving a nonholonomic mobile robot to intercept a moving target. The proposed method has a two-level structure. On the lower level, the pan–tilt platform carrying the on-board camera is controlled so as to keep the target as close as possible to the center of the image plane. On the higher level, the relative(More)
— We present a method for sensor-based exploration of unknown environments by a robotic system equipped with rangefinders. The method is based on the incremental generation of a configuration-space data structure called Sensor-based Exploration Tree (SET). The expansion of the SET is driven by information at the world level, where the perception process(More)
— We present a vision-based scheme for driving a nonholonomic mobile robot to intercept a moving target. Our method relies on a two-level approach. On the lower level, the pan-tilt platform which carries the on-board camera is controlled so as to keep the target at the center of the image plane. On the higher level, the robot operates under the assumption(More)
—We present a decentralized cooperative exploration strategy for mobile robots. A roadmap of the explored area, with the associate safe region, is built in the form of a compact data structure, called Sensor-based Random Graph. This is incremen-tally expanded by the robots by using a randomized local planner which automatically realizes a trade-off between(More)
This paper considers a robot that moves in the plane and is only able to sense the cyclic order of landmarks with respect to its current position. No metric information is available regarding the robot or landmark positions; moreover, the robot does not have a compass or odometers (e.g., coordinates). We carefully study the information space of the robot,(More)
— This paper presents a novel method for sensor-based exploration of unknown environments by a general robotic system equipped with multiple sensors. The method is based on the incremental generation of a configuration-space data structure called Sensor-based Exploration Tree (SET). The expansion of the SET is driven by information at the world level, where(More)