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Thematic Area B: Robotic Monitoring and Surveillance



1 – Summary of activities

During 2004 work was pursued in all areas described in the work-plan. Particularly relevant were the advances in outdoor navigation of a terrestrial vehicle from natural landmarks using simultaneous localization and mapping together with a methodology for landmark detection from an aerial vehicle. Mobile platforms for outdoor /rescue applications were developed. Precise path following methods were developed and integrated on board GPS based navigation strategies for autonomous aerial vehicles with application to Unmanned Helicopters.


Several algorithms were proposed fro the recognition of human activity from the observation of video sequences, including tracking, matching, feature selection, occlusion handling and recognition. Similar methods were applied for highway traffic analysis.
A prototype of a humanoid robotic torso – Baltazar - was developed. The sensorimotor coordination of Baltazar is done autonomously following the developmental process studied in human infants, or neurophysiological studies in monkeys (e.g. mirror neurons).

2 – Indicators





 

Area B

Publicações

 

Books (editor)

 

Books (Chapters in books)

5

Papers in International Journals

6

Papers in National Journals

 

Communications in Conferences

 

In international conferences

38

In national conferences

4

Reports

9

Organização de Seminários e Conferências

20

Advanced Training

 

Ph.D. Thesis (concluded)

3

M.Sc. Thesis (concluded)

3

Others

 

Models

 

Computational Applications

 

Pilot Instalations

21

Laboratory Prototypes

7

Patents

 

Outros

 


3 – Publications




A) M.Sc THESES (3)





  1. Alpeshkumar Narotam Ranchordas, “Um Sistema de Realidade Aumentada sem Calibração”, M.Sc. Thesis, Instituto Superior Técnico, June 2004, Lisboa, Portugal.

  2. Maria da Graça Vieira de Brito Almeida, “Controlo de um Manipulador Robótico Usando Visão”, M.Sc. Thesis, Instituto Superior Técnico, Setembro 2004, Lisboa, Portugal.

  3. Rui Miguel Dias Carvalho, Concepção de um Sistema Multi-Agente para a Resolução de Problemas de Cadeias de Produção-Distribuição, October 2004.

B) Ph.D. THESES (3)





  1. Alexandre Bernardino, " Binocular Head Control with Foveal Vision : Methods and Applications", Ph.D. Thesis, Instituto Superior Técnico, April 2004, Lisboa, Portugal.

  2. Raquel Frizera Vassallo, "Uso de Mapeamentos Visuomotores com Imagens Omnidireccionais para Aprendizagem por Imitação em Robótica", Ph.D. Thesis, Universidade Federal do Espírito Santo, Setembro 2004, Vitória, Espírito Santo, Brasil.

  3. Dejan Milutinovic, Stochastic Model of Micro-Agent Populations, PhD Thesis, Instituto Superior Técnico, 2004.

C) IN BOOKS (5):





  1. M.Isabel Ribeiro, “Robots Móveis”, Enciclopédia Activa Multimédia, volume de Tecnologias, Lexicultural, pp. 226-227, October 2004.

  2. M. Isabel Ribeiro, “Sensores em Robótica”, Enciclopédia Activa Multimédia, volume de Tecnologias, Lexicultural, pp. 228-229, October 2004.

  3. M. Isabel Ribeiro, “Navegação em Robótica Autónoma”, Enciclopédia Activa Multimédia, volume de Tecnologias, Lexicultural, pp.232-233, October 2004.

  4. G. Neto, H. Costelha, P. Lima, “Topological Navigation in Configuration Space Applied to Soccer Robots”, RoboCup-2003: Robot Soccer World Cup VII, Springer Verlag, Berlin, 2004

  5. H. Lausen, J. Nielsen, M. Nielsen, P. Lima, “Model and Behavior-Based Robotic Goalkeeper”, RoboCup-2003: Robot Soccer World Cup VII, Springer Verlag, Berlin, 2004

D) IN INTERNATIONALS JOURNALS (6)





  1. M. Cabido Lopes, J. Santos-Victor, “Visual learning by imitation with motor representations,” accepted for publication, IEEE Transactions on Systems, Man and Cybernetics, special issue on Learning in Computer Vision and Pattern Recognition, 2004.

  2. P. Tabuada, G. Pappas and P. Lima, “Compositional Abstractions of Hybrid Control Systems”, Journal of Discrete Event Dynamic Systems, April 2004, Volume 14, Issue 2

  3. P. Lima, L. Custódio, “Artificial Intelligence and Systems Theory Applied to Cooperative Robots”, International Journal of Advanced Robotic Systems, No. 3, September 2004

  4. C. Marques, P. Lima, “Multi-Sensor Navigation for Non-Holonomic Robots in Cluttered Environments”, IEEE Robotics and Automation Magazine, 11(3), September 2004

  5. Jacinto Nascimento, Jorge S. Marques, Robust Shape Tracking in the Presence of Cluttered Background, IEEE Transactions on Multimedia, Vol. 6, no. 6, December, 2004.

  6. Gilles Celeux, Jorge S. Marques, Jacinto Nascimento, Learning Switching Dynamic Models for ObjectsTracking, Pattern Recognition, vol. 37, nº 9, 1835-1840, September 2004.

E) IN INTERNATIONAL CONFERENCES (38)





  1. N. Gracias, J. Costeira, J. Santos-Victor, Linear Global Mosaics for Underwater Surveying, IFAC/EURON Symposium on Intelligent Autonomous Vehicles, IAV2004, Lisboa, Portugal, July 2004.

  2. R. Vassallo, J. Santos-Victor, H.J. Schneebeli, Visuomotor Maps for Robot Task Learning through Imitation, IFAC/EURON Symposium on Intelligent Autonomous Vehicles, IAV2004, Lisboa, Portugal, July 2004.

  3. R. Freitas, J. Santos-Victor, M. Sarcinelli-Filho, T. Bastos-Filho, Learning Navigation Maps by Looking at People, IFAC/EURON Symposium on Intelligent Autonomous Vehicles, IAV2004, Lisboa, Portugal, July 2004.

  4. L. GerstMeyer, A. Bernardino, J. Santos-Victor, Appearance based landmark selection and Reliability Evaluation for Topological Navigation, IFAC/EURON Symposium on Intelligent Autonomous Vehicles, IAV2004, Lisboa, Portugal, July 2004.

  5. J. Melo, A. Naftel, A. Bernardino, J. Santos-Victor, Retrieval of Vehicle Trajectories and estimation of Lane Geometry using non-Stationary Traffic Surveillance Cameras, ACVIS 2004, Advanced Concepts for Intelligent Vision Systems, Brussels, Belgium, Aug. 31-Sept. 3, 2004.

  6. Andrew Naftel, José Melo, Alexandre Bernardino and José Santos-Victor, Highway Lane Detection and Classification Using Vehicle Motion Trajectories, The 4th IASTED International Conference on Visualization, Imaging, and Image Processing (VIIP 2004) September 6-8, 2004, Marbella, Spain.

  7. J. Melo, A. Naftel, A. Bernardino, J. Santos-Victor, Viewpoint Independent Detection of Vehicle Trajectories and Lane Geometry from Uncalibrated Traffic Surveillance Cameras, ICIAR - Int'l Conference on Image Analysis and Recognition, Porto, Portugal, Sep.29 - Oct.1 2004.

  8. V.J.Traver, A.Bernardino, P. Moreno, J. Santos-Victor, Appearance-based object detection in space-variant images: a multi-model approach, ICIAR - Int'l Conference on Image Analysis and Recognition, Porto, Portugal, Sep.29 - Oct.1 2004.

  9. M. Lopes, R. Beira, M. Praça, J. Santos-Victor, An anthropomorphic robot torso for imitation: design and experiments, IROS - IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan, Setembro 28 - Outubro 2, 2004.

  10. João Sequeira, M. Isabel Ribeiro, “Hybrid control of semi-autonomous robots”, Proceedings do IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS2004, September 2004, Sendai, Japan, pp.1838-1844.

  11. João Sequeira, M. Isabel Ribeiro, “Behavioral control of robot teams”, Proceedings of the workshop on Networked Robotics: Issues, Architectures and Applications, part of the IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS2004, September de 2004, Sendai, Japan, pp.105-110.

  12. Francisco Melo, M. Isabel Ribeiro, Pedro Lima, “Navigation Controllability of a Mobile Robot Population”, Proceedings of the RoboCup Symposium, July 2004, Lisboa, Portugal.

  13. João Sequeira, M. Isabel Ribeiro, “Behavior-based control for semi-autonomous robots”, Preprints do 5th IFAC/EURON Symposium on Intelligent Autonomous Vehicles, IAV2004, Julho de 2004, Lisboa, Portugal.

  14. N. F. Gonçalves, P. M. Silva, J. Sequeira, M. I. Ribeiro, “Modelling and control of a biped Robot”, Preprints do 5th IFAC/EURON Symposium on Intelligent Autonomous Vehicles, IAV2004, Julho de 2004, Lisbon, Portugal.

  15. Alberto Vale, José Miguel Lucas, M. Isabel Ribeiro, “Feature Extraction and Selection for Mobile Robot Navigation in Unstructured Environments”, Preprints do 5th IFAC/EURON Symposium on Intelligent Autonomous Vehicles, IAV2004, Julho de 2004, Lisboa, Portugal.

  16. João Sequeira, M. Isabel Ribeiro, “Hybrid control of a car-like robot”, Proceedings do 4th International Workshop on Robot Motion and Control, RoMoCo’04, Puszczykowo, Polónia, 17-20 de Junho de 2004, pp. 167-173.

  17. Francisco Melo, Pedro Lima, M. Isabel Ribeiro, “Event-Driven Modeling and Control of a Mobile Robot Population”, Proceedings da 8th Conference on Intelligent Autonomous Systems, IAS8, Amsterdão, Holanda, Março de 2004, pp.237-244.

  18. José Rocha, João Sequeira, “The Development of a Robotic System for Maintenance and Inspection of Power Lines“, Procs of the 35th Int. Symposium on Robotics, ISR2004, Paris-Nord Villepinte, France, March 23-26, 2004

  19. José Rocha, João Sequeira, “New Approaches for Surveillance Tasks“, Preprints of the 5th IFAC/EURON Symposium on Intelligent Vehicles, IAV 2004, Lisbon, Portugal, July 4-7, 2004

  20. P. Pinheiro, P. Lima, “Bayesian Sensor Fusion for Cooperative Object Localization and World Modeling”, 8th Conference on Intelligent Autonomous Systems – IAS-8, Amsterdam, The Netherlands

  21. B. Damas, P. Lima, “Stochastic Discrete Event Model of a Multi-Robot Team Playing an Adversarial Game”, 5th IFAC/EURON Symposium on Intelligent Autonomous Vehicles - IAV2004, Lisboa, Portugal

  22. J. Frazão, P. Lima, "Agent-Based Software Architecture for Multi-Robot Teams", Proc. of 5th IFAC/EURON Symposium on Intelligent Autonomous Vehicles - IAV2004, Lisboa, Portugal, 2004

  23. F. Melo, M. I. Ribeiro, P. Lima, "Navigation Controllability of a Mobile Robot Population", Proc. of RoboCup 2004 Symposium, Lisboa, Portugal, 2004

  24. B. Van der Vecht , P. Lima, “Formulation and Implementation of Relational Behaviours for Multi-Robot Cooperative Systems”, Proc. of RoboCup 2004 Symposium, Lisboa, Portugal, 2004

  25. Vasco Pires, Miguel Arroz, Luis Custódio, “Logic Based Hybrid Decision System for a Multi-robot Team”, 8th Conference on Intelligent Autonomous Systems, Amsterdam, The Netherlands, May 2004

  26. Rui Carvalho, Luis Custódio, “A Multiagent Systems Approach for Managing Supply-Chain Problems”, IBERAGENTS 2004 – Fifth Iberoamerican Workshop on Multi-Agent Systems, 9th Ibero-American Conference on Artificial Intelligence (IBERAMIA 2004), Mexico, November 2004.

  27. Muriel Pádua, Luis Custódio, “Search Models and Ill-Structured Problems: a Case-Study on the HIV Vaccine”, International J. A. Schumpeter Society 10th ISS Conference - Schumpeter2004, Innovation, Industrial Dynamics and Structural Transformation: Schumpeterian Legacies, Milan, June 2004.

  28. Rodrigo Ventura, Carlos Pinto-Ferreira, “Generating and Refining Causal Models for an Emotion-based Agent”, in Architectures for Modeling Emotion: Cross-Disciplinary Foundations, 2004 AAAI Spring Symposium, AAAI, 2004

  29. Jorge Pais, Carlos Pinto-Ferreira, “Learning Strategies for Qualitative Spatial Reasoning based on Semantics extracted from Human Solutions - A First Attempt”, in European Conference for Artificial Intelligence 2004 (ECAI2004) Workshop of Spatial and Temporal Reasoning, Valencia, Espanha, 2004.

  30. Pedro M. Jorge, Arnaldo J. Abrantes, Jorge S. Marques, Estimation of the Bayesian Network Architecture for Object Tracking in Video Sequences, ICPR, vol. 2, 732-735, August 2004.

  31. Arnaldo J. Abrantes, Jorge S. Marques, The Mean Shift and the Unified Framework, International Conference on Pattern Recognition, Vol. 1, 244-247, August 2004.

  32. João M. Sanches and Jorge S. Marques, MAP signal reconstruction with non regular grids, International Conference on Image Analysis and Recognition, LNCS, vol. 3211, 204-211, 2004.

  33. Jorge G. Silva, Jorge S. Marques, J. M. Lemos, Trajectory Tracking in Manifolds with Tangent Bundle Approximation, 6th IFAC Symposium on Nonlinear Control Systems, Stuttgart, September 2004.

  34. Pedro M. Jorge, Arnaldo J. Abrantes, Jorge S. Marques, On-line Tracking Groups of Pedestrians with Bayesian Networks, Workshop PETS, 65-72, Prage, May 2004.

  35. Pedro M. Jorge, Arnaldo J. Abrantes, Jorge S. Marques, On-line Object Tracking with Bayesian Networks, International Workshop on Image Analysis for Multimedia Interactive Systems, Lisbon, April 2004.

  36. R. J. Oliveira P. C. Ribeiro J. S. Marques J. M. Lemos, A Video System for Urban Surveillance: Function Integration and Evaluation, International Workshop on Image Analysis for Multimedia Interactive Systems, Lisbon, April 2004.

  37. J. Nascimento, Jorge S. Marques, New Performance Evaluation Metrics for Object Detection Algorithms, Workshop PETS, Prague, May 2004.

  38. J.F. Vasconcelos, J. Calvário, P. Oliveira, C. Silvestre, GPS aided IMU for Unmanned air vehicles, IAV2004 5th Symposium on Intelligent Autonomous Vehicles, Lisboa Portugal, July 2004.



F) IN NATIONAL JOURNALS




F) IN NATIONAL CONFERENCES (4)





  1. Vasco Pires, Miguel Arroz, Pedro Lima, M. I. Ribeiro, Luis Custódio, “Distributed Deliberative Decision System for a Multi-Robot Team”, Proceedings of Encontro Científico do ROBÓTICA 2004, Porto, April 2004.

  2. Rui Carvalho, Luis Custódio, “Concepção de um Sistema Multi-Agente para a Resolução de Problemas de Cadeias de Produção-Distribuição'', 5ª Conferência da Associação Portuguesa de Sistemas de Informação (CAPSI), Lisboa, November 2004.

  3. V. Pires, M. Arroz, L. Custódio, P. Lima, M. I.Ribeiro, “Distributed Deliberative Decision System for a Multi-Robot”, Proceedings do Encontro Científico do 4º Festival Nacional de Robótica, ROBOTICA2004, Porto, Abril de 2004, pp.127-134.

  4. Carlos Alfaro, M. Isabel Ribeiro, Pedro Lima, “Smooth Local Path Planning for a Mobile Manipulator”, Proceedings do Encontro Científico do 4º Festival Nacional de Robótica, ROBOTICA2004, Porto, Abril de 2004, pp.17-24.

G) IN TECHNICAL REPORTS (9)





  1. João Costal, "Formações de Robots Aéreos e Terrestres", Final Year and RESCUE Project Technical Report, IST Aerospace Engineering degree, October 2004.

  2. Pedro Lima, Dan Dumitriu, Sónia Marques, “Candidate Formation Algorithms Simulation Results and Performance Assessment”, TN4-FEMDS-8Nov2004.

  3. Pedro Lima, Dan Dumitriu, Sónia Marques, “Candidate Estimation, Guidance and Control Algorithms Functional Design and Analysis”, TN3-FEMDS-29Sep2004.

  4. João Cristóvão, Carlos Marques, João Frazão, Pedro Lima, Maria Isabel Ribeiro, “RAPOSA Second Milestone Report (1 / 10 / 2003 – 31 / 03 / 2004)”

  5. João Cristóvão, Carlos Marques, João Frazão, Pedro Lima, Maria Isabel Ribeiro, “RAPOSA Third and Fourth Milestone Report (01 / 04 / 2004 – 31 / 08 / 2004)”

  6. Francisco Melo, Maria Isabel Ribeiro, “Blocking Controllability of a Mobile Robot Population”, Relatório Técnico, RT-601-04, Instituto de Sistemas e Robótica, pólo do Instituto Superior Técnico, May 2004.

  7. A.Bernardino, L.Custódio, J.Frazão, P.Lima, F.Melo, M.I.Ribeiro, J.Santos-Victor, A.Vale, “RESCUE Project Final Report”, November 2004.

  8. João Cristóvão, Carlos Marques, João Frazão, Pedro Lima, M. Isabel Ribeiro, “RAPOSA Project -Second Milestone Report”, March 2004.

  9. João Cristóvão, Carlos Marques, João Frazão, Pedro Lima, M. Isabel Ribeiro, “RAPOSA Project -Third and Fourth Milestones Report”, October 2004.



H) MISCELLANEOUS


4 – Organization of international events



RoboCup2004, 27 June – 5 July, 2004.

Description: RoboCup is an international initiative with the main goals of fostering research and education in Artificial Intelligence and Robotics, as well as of promoting Science and Technology to world citizens. The idea is to provide a standard problem where a wide range of technologies can be integrated and examined, as well as being used for integrated project-oriented education, and to organize annual events open to the general public, where different solutions to that problem are compared. As in past years, RoboCup2004 consisted of the 8th Symposium and of the Competitions. The competitions took place at the Pavilion 4 of Lisbon International Fair (FIL), an exhibition hall of approximately 10 000 m², located at the former site of Lisbon EXPO98 world exhibition. The Symposium was held at the Congress Center of the Instituto Superior Técnico (IST), Lisbon Technical University. Together with the competitions, two regular demonstrations took place on a daily basis: SegWay soccer, by a team from Carnegie-Mellon University, coordinated by Prof. Manuela Veloso, and SONY QRIO robot, by a team from SONY Japan. RoboCup2004 was locally organized by a Portuguese committee composed of 15 researchers and University professors from several Universities, therefore underlining the national nature of the event organization. This committee worked closely with the international organizing and technical committees to set up an event with the record number of 1627 participants from 37 countries, and an estimated number of 500 robots, split by 346 teams.

URL: http://www.robocup2004.pt/

Coordinators: Pedro Lima, Luis Custódio

Support: RoboCup Federation, Fundação para a Ciência e a Tecnologia (FCT), Agência Nacional para a Cultura Científica e Tecnológica – Ciência Viva, Turismo de Lisboa, Record, Viking Telecom, Exame Informática, ICEP Portugal, TAP Air Portugal

PETS2004: Sixth IEEE International Workshop on Performance Evaluation of Tracking and Surveillance,

Held in conjunction with the European conference on Computer Vision, Prague, Czech Republic, May 2004.

Program Chairs,

James L. Crowley, INRIA Rhone Alpes, France

Robert E. Fisher, University of Edimburgh, UK

José Santos-Victor , Institute for Systems and Robotics/IST, Portugal



IAV2004 – 5th IFAC/EURON Symposium on Intelligent Autonomous Vehicles

This Symposium was the fifth of a series of IFAC-sponsored meetings in the field of Intelligent Autonomous Vehicles. Previous symposia were held in the United Kingdom (1993), Finland (1995), Spain (1998) and Japan (2001). In 2004, IAV2004 was organized by the Institute for Systems and Robotics (ISR) / Instituto Superior Técnico (IST), with the sponsorship of IFAC-International Federation of Automatic Control and EURON-European Robotics Research Network, and was held at the Congress Hall on the campus of the Instituto Superior Técnico July 5-7, 2004.


GENERAL CHAIR:

M. Isabel Ribeiro, Institute for Systems and Robotics/IST, Portugal

CHAIRS OF THE IPC (members of the ISR/IST)

Chair: M. Isabel Ribeiro, Institute for Systems and Robotics/IST, Portugal

Vice-Chair: António Pascoal, Institute for Systems and Robotics/IST, Portugal

EDITORS


M. Isabel Ribeiro, Institute for Systems and Robotics/IST, Portugal

José Santos-Victor, Institute for Systems and Robotics/IST, Portugal

NATIONAL ORGANIZING COMMITTEE (members of ISR/IST)

Chair: Carlos Silvestre, Institute for Systems and Robotics/IST, Portugal

José Santos-Victor, Institute for Systems and Robotics/IST, Portugal

João Paulo Costeira, Institute for Systems and Robotics/IST, Portugal

Alexandre Bernardino, Institute for Systems and Robotics/IST, Portugal

5 – Seminars and internal workshops (17)



3rd ISlab Workshop, February 13, 2004.

Coordinator: Rodrigo Ventura

Laboratories: Intelligent Systems Laboratory

Description: This was a workshop organized by the Intelligent Systems Lab. aiming at the presentation for all the group of the research work being developed by its members, mainly the PhD and MSc students.

URL: http://islab.isr.ist.utl.pt/htdocs/workshop3/index.html
4th ISlab Workshop, November 12, 2004.

Coordinator: Gonçalo Neto

Laboratories: Intelligent Systems Laboratory

Description: This was a workshop organized by the Intelligent Systems Lab. aiming at the presentation for all the group of the research work being developed by its members, mainly the PhD and MSc students.

URL: http://islab.isr.ist.utl.pt/htdocs/workshop4/index.html
VisLab Seminars: Computer and Robot vision weekly seminar, about 15 scientific presentations over the year.

6 – Testbeds and Prototypes



Commercial patforms (21)

1 - RWI ATRV-Jr mobile robot, 4-wheel drive, equipped with 16 sonars, GPS, inertial navigation module and a compass, pan and tilt vision system and one SICK Laser scanner.

1 - Blimp aerial robot, with pan and tilt vision system, 3 servomotors, RF link for remote control and remote video-link for video transmission.

1 - Radio controlled lighter than air blimp with radio control and video transmission.

4 - Nomadic Super-Scout II mobile robots, equipped with 16 sonars and 2 cameras each, one of them part of an omni-directional catadioptric system.

4 - Scout mobile platforms with on-board computer, vision camera and wireless Ethernet

2 - Scout mobile platforms with on-board computer, vision cameras and wireless Ethernet

1 - Robuter mobile platform, with a ring of 24 ultrasound sensors, and two on-boards processors: Motorola 68020@16MHz running the real-time operating system Albatros, and a Pentium@200Mhz running Windows NT. A laser scanner (Lasernet system) for localisation purposes with artificial landmarks is installed on the platform.

1 - Labmate mobile patform with severalcameras (pan-tilt, omnidirectional and setereo head)

1 - PUMA 560 manipulator, whose Mark III controller was partially replaced by Trident Robotics TRC 004/6 boards, which allow manipulato r control by an external PC.

4 - Sony dogs Aibo.

1 - A complete set of the LEGO Mindstorms system for Mobile Robotics



Designed/built prototypes (7)

1 - Antropomoprphic robotic torso (humanoid), with a 6 DOF arm a 11 DOF (underactuated with 4 motors) articulated hand, and a binocular head with 4 DOFs.

1 - High performance binocular robotic head with 4 degress of freedom

1 - Miniaturized binocular robot head with a 4 degress of freedom and a 3 degrees of freedom neck. The head was designed with the dimensions of a 2.5 year old child.

1 - All-terrain remotely-operated (by wireless or cable LAN) robot (RAPOSA), endowed with several sensors for detection of dangerous gases, humidity, and temperature, a thermal camera, several web cams (some of them with controllable pan)

1 - (soon 5) omni-directional (3 wheels) robots endowed with an on-board laptop with wireless communications, rate-gyro, 16 sonars, omni-directional catadioptric system, optical mouse for odometry, electromechanical kicker and rolling drum systems for robotic soccer applications

1 - Mobile Platform, built at ISR, with tricycle-like kinematics, 60W and 90W motors, open control and guidance architecture based on 2 Pentium motherboards, and 2 on-board cameras.

1 - Unmanned Helicopter for testing of control and navigation algorithms.



Sensors/miscellaneous (6)

3 - Three computer controlled Pan & Tilt Units from Direct Perception.

1 - Several specially designed catadioptric cameras.

1 - Laser Range Finder from the Riegl supplier with range and luminance measurement.

2 - Sick Laser Scanner.




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