Volume 49; Issue 15

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IFAC-PapersOnLine
Volume 49; Issue 15

IFAC-PapersOnLine

Volume 49; Issue 15

1

Optimizing Triangle Mesh Reconstructions of Planar Environments

Wiemann, Thomas, Lingemann, Kai, Hertzberg, Joachim

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 1.88 MB

english, 2016

2

Pose Tracking and Sensor Self-Calibration for an All-terrain Autonomous Vehicle**This work has been supported by the Italian Ministry of University and Research (MIUR) through the PRIN 2009 grant "ROAMFREE: Robust Odometry Applying Multi-sensor Fusion to Reduce Estimation Errors", the Regione Lombardia grant "SINOPIAE", and the POLISOCIAL Grant "Maps for Easy Paths" from Politecnico di Milano.

Cucci, Davide A., Matteucci, Matteo, Bascetta, Luca

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 1.79 MB

english, 2016

3

3D Navigation Mesh Generation for Path Planning in Uneven Terrain

Pütz, Sebastian, Wiemann, Thomas, Sprickerhof, Jochen, Hertzberg, Joachim

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 1.15 MB

english, 2016

4

Nonlinear Path Tracking Controller for Bi-Steerable Vehicles in Cluttered Environments**This work was supported by the European Commission (FEDER) and the Labex IM0BS3 through FUI-AAP14 VipaFleet.

Nizard, Ange, Thuilot, Benoit, Lenain, Roland, Mezouar, Youcef

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 1.12 MB

english, 2016

5

The Effect of Sensor Modality on Posterior Cramer-Rao Bounds for Simultaneous Localisation and Mapping**This research is supported by DST Group under Collaborative Research Agreements MYIP #5922, MYIP #5923, and by the Defence Science Institute as an initiative of the State Government of Victoria.

Selvaratnam, Daniel D., Shames, Iman, Ristic, Branko, Manton, Jonathan H.

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 613 KB

english, 2016

6

Autonomous Driving of a Mobile Robot Using a Combined Multiple-Shooting and Collocation Method

Drozdova, Evgeniya, Hopfgarten, Siegbert, Lazutkin, Evgeny, Li, Pu

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 592 KB

english, 2016

7

Comparing Collision Threat Measures for Verification of Autonomous Vehicles using Extreme Value Theory

Åsljung, Daniel, Nilsson, Jonas, Fredriksson, Jonas

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 497 KB

english, 2016

8

Kinematic trajectory tracking controller for an all-terrain Ackermann steering vehicle

Bascetta, Luca, Cucci, Davide A., Matteucci, Matteo

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 1.18 MB

english, 2016

9

Ground plane based visual odometry for RGBD-Cameras using orthogonal projection

Jordan, Julian, Zell, Andreas

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 906 KB

english, 2016

10

Computation of Empowerment for an Autonomous Underwater Vehicle**This work was partially supported by EC Horizon 2020 programme under the project WiMUST (Grant agreement no: 645141, Strategic objective: H2020 - ICT-23-2014 - Robotics).

Catenacci Volpi, Nicola, De Palma, Daniela, Polani, Daniel, Indiveri, Giovanni

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 567 KB

english, 2016

11

Application of Local Linear Steering Models with Model Predictive Control for Collision Avoidance Maneuvers

Yi, Boliang, Ferdinand, Jens, Simm, Norbert, Bonarens, Frank

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 564 KB

english, 2016

12

LFT-based MPC Control of an Autonomous Vehicle

Bascetta, Luca, Ferretti, Gianni, Matteucci, Matteo, Bossi, Marco

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 397 KB

english, 2016

13

Histograms of Stroke Widths for Multi-script Text Detection and Verification in Road Scenes

Valdenegro-Toro, Matias, Plöger, Paul, Eickeler, Stefan, Konya, Iuliu

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 1.29 MB

english, 2016

14

Hybrid Metric-Topological 3D Occupancy Grid Maps for Large-scale Mapping

Schmuck, Patrik, Scherer, Sebastian A., Zell, Andreas

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 1.22 MB

english, 2016

15

Testing Automated Vehicles Against Actuator Inaccuracies in a Large State Space

Minnerup, Pascal, Knoll, Alois

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 696 KB

english, 2016

16

Cooperation of coordinated teams of Autonomous Underwater Vehicles**This work was supported by Office of Naval Research Global (ONRG) NICOP N62909-14-1-N259 grant and ONR 0601153N grant.

Djapic, Vladimir, Dong, Wenjie, Spaccini, Daniele, Cario, Gianni, Casavola, Alessandro, Gjanci, Petrika, Lupia, Marco, Petrioli, Chiara

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 606 KB

english, 2016

17

Prediction of the scene quality for stereo vision-based autonomous navigation

Roggeman, Hélène, Marzat, Julien, Bernard-Brunei, Anthelme, Le Besnerais, Guy

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 947 KB

english, 2016

18

Autonomous Apartment Exploration, Modelling and Segmentation for Service Robotics

Manfredi, Guido, Devin, Sandra, Devy, Michel, Sidobre, Daniel

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 937 KB

english, 2016

19

Tire-Ground Forces Estimation in a 4-Wheel Vehicle Using a Delayed Interconnected Cascade-Observer Structure**The authors acknowledge the grants: Ph.D. FAPESP (2014/06610-8), BEPE FAPESP (2014/27240-4) and Regular FAPESP Project VERDE (2014/02672-9). This work was carried out within the framework of the Equipex ROBOTEX (Reference ANR-10-EQPX-44-01) Heudiasyc Laboratory UMR CNRS UTC 7253.

Cordeiro, Rafael A., Victorino, Alessandro C., Ferreira, Paulo A.V., de Paiva, Ely C., Bueno, Samuel S.

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 941 KB

english, 2016

20

Compact Data Association in Multiple Object Tracking: Pedestrian Tracking on Mobile Vehicle as Case Study

Piao, Songlin, Sutjaritvorakul, Tanittha, Berns, Karsten

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 1008 KB

english, 2016

21

Some remarks on wheeled autonomous vehicles and the evolution of their control design**Work partially supported by the French national project IN-OVE/ANR 2010 BLANC 308.

d’Andréa-Novel, Brigitte, Menhour, Lghani, Fliess, Michel, Mounier, Hugues

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 940 KB

english, 2016

22

Smooth Variable Structure Filter VSLAM

Ahmed, Allam, Abdelkrim, Nemra, Mustapha, Hamerlain

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 571 KB

english, 2016

23

Application and Improvement of the TRRL (Transport and Road Research Laboratory) High-Speed Laser Profilometer Algorithm with Sensor Fusion**The presented project is conducted with the support of measX GmbH & Co. KG..

Kilic, Furkan, Hilsmann, Joachim

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 776 KB

english, 2016

24

Energy Efficient Dynamic Window Approach for Local Path Planning in Mobile Service Robotics**This work was conducted at the University of Auckland, Auckland, New Zealand

Henkel, Christian, Bubeck, Alexander, Xu, Weiliang

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 609 KB

english, 2016

25

Model-Based Fault Diagnosis Techniques for Mobile Robots**This work was sponsored by the B-IT foundation and the Strukturfond des Landes Nordrhein-Westfalen for the female PhD students.

Kuestenmacher, Anastassia, Plöger, Paul G.

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 400 KB

english, 2016

26

Cubature Kalman Filter Based Fault Detection and Isolation for Formation Control of Multi-UAVs

Kim, Sang-Hyeon, Negash, Lebsework, Choi, Han-Lim

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 1.18 MB

english, 2016

27

Navigation Strategies of a Cruising AUV for Near-Bottom Survey of a Steep Terrain

Kim, Kangsoo, Ura, Tamaki

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 1.34 MB

english, 2016

28

FLAP for CAOS: Forward-Looking Active Perception for Clutter-Aware Object Search11All authors are with the Institute of Computer Science, University of Osnabrück, Albrechtstr. 28, 49076 Osnabrück, Germany. Martin Günther and Joachim Hertzberg have a second affiliation with the DFKI Robotics Innovation Center, Osnabrück Branch, 49076 Osnabrück, Germany. This work is supported by the RACE project, grant agreement no. 287752, funded by the EC Seventh Framework Programme theme FP7-ICT-2011-7.

Gedicke, Thorsten, Günther, Martin, Hertzberg, Joachim

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 883 KB

english, 2016

29

Bumpless Transfer for Convenient Lateral Car Control Handover**This work was supported in part by COMET K2 - Competence Centres for Excellent Technologies Programme.

Nestlinger, G., Stolz, M.

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 563 KB

english, 2016

30

Influences of Leading-Vehicle Types and Environmental Conditions on Car-Following Behavior

Geng, Xinli, Liang, Huawei, Xu, Hao, Yu, Biao

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 695 KB

english, 2016

31

Online Optimizing Plug-In Hybrid Energy Management Strategy for Autonomous Guidance and Drive-aware Scenarios

Vadamalu, Raja Sangili, Beidl, Christian

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 680 KB

english, 2016

32

Optimal Regulation for Dynamic Hybrid Systems Based on Dynamic Programming in the Case of an Intelligent Vehicle Drive Assistant

Schmidt, Simon, Mercorelli, Paolo

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 496 KB

english, 2016

33

Matching Paths in Topological Maps

Schwertfeger, Sören, Yu, Tianyan

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 606 KB

english, 2016

34

Minimum Cost Matching for Autonomous Carsharing

Hanna, Josiah P., Albert, Michael, Chen, Donna, Stone, Peter

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 368 KB

english, 2016

35

Contents

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 339 KB

english, 2016

36

Debugging Autonomous Driving Systems Using Serialized Software Components

Minnerup, Pascal, Lenz, David, Kessler, Tobias, Knoll, Alois

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 622 KB

english, 2016

37

Development and Online Validation of an UKF-based Navigation Algorithm for AUVs

Allotta, Benedetto, Caiti, Andrea, Costanzi, Riccardo, Fanelli, Francesco, Meli, Enrico, Ridolfi, Alessandro

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 978 KB

english, 2016

38

Risks Level Assessments for Automotive Application

Russo, Jean-Nicola, Sproesser, Thomas, Drouhin, Frédéric, Basset, Michel

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 467 KB

english, 2016

39

A Parameter Estimator for a Model Based Adaptive Control Scheme for Longitudinal Control of Automated Vehicles

Buechel, Martin, Knoll, Alois

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 796 KB

english, 2016

40

Efficient Fleet Absolute Localization and Environment Re-Mapping**This work was supported by the French program "Investissements d’Avenir" grant managed by the National Research Agency (ANR), the European Regional Development Fund (ERDF) and Region Auvergne, in the framework of the IMobS3 Laboratory of Excellence (ANR-10-LABX-16-01).

Delobel, Laurent, Aufrere, Romuald, Chapuis, Roland, Chateau, Thierry

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 455 KB

english, 2016

41

Context-Based Adaptation of In-Hand Slip Detection for Service Robots

Sanchez, Jose, Schneider, Sven, Hochgeschwender, Nico, Kraetzschmar, Gerhard K., Plöger, Paul G.

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 862 KB

english, 2016

42

Optimized trajectory planning for Cybernetic Transportation Systems

Garrido, Fernando, González, David, Milanés, Vicente, Pérez, Joshué, Nashashibi, Fawzi

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 673 KB

english, 2016

43

Generic Path Planning Algorithm for Mobile Robots Based on Bézier Curves

Costanzi, Riccardo, Fanelli, Francesco, Meli, Enrico, Ridolfi, Alessandro, Allotta, Benedetto

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 625 KB

english, 2016

44

Human machine interface to manually drive rhombic like vehicles such as transport casks in ITER**IPFN activities received financial support from Fundação para a Ciência e Tecnologia through project UID/FIS/50010/2013.

Lopes, Pedro, Vale, Alberto, Ventura, Rodrigo

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 1.83 MB

english, 2016

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