The use of RGB-D cameras has become an affordable solution for robot mapping and navigation in contrast to expensive 2D laser range finders. Although these sensors provide richer information about the 3D environment, most successful mapping and navigation techniques for mobile robots have been...
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In this paper we propose an approach to embed multi-dimensional continuous cues in binary feature descriptors used for visual place recognition. The embedding is achieved by extending each feature descriptor with a binary string that encodes a cue and supports the Hamming distance metric....
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A Simultaneous Localization and Mapping(SLAM) system is a complex program consisting of several interconnected components with different functionalities such as optimization, tracking or loop detection. Whereas the literature addresses in detail how enhancing the algorithmic aspects...
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Mobile robots can be considered completely autonomous if they embed active algorithms for Simultaneous Localization And Mapping (SLAM). This means that the robot is able to autonomously, or actively, explore and create a reliable map of the environment, while simultaneously estimating its pose. In...
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In this paper, we present a sonar-based navigation system, designed to deploy a fleet of autonomous mobile platforms at a reasonable cost. In educational and hobbyist contexts, a large number of robots is required. By means of classical navigation approaches, every robot should be provided with...
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We study classical planning for temporally extended goals expressed in Pure-Past Linear Temporal Logic (PPLTL). PPLTL is as expressive as Linear-time Temporal Logic on finite traces (LTLf), but as shown in this paper, it is computationally much better behaved for planning. Specifically, we show...
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We present a formalization of multi-agent planning problems in which agents are explicitly represented. In contrast with previous formalisations, we discuss the advantages of representing agents explicitly and show the implementation in the Unified Planning formalism and some practical examples....
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Human activities represent a major source of information for smart home automation. While performing their daily activities, humans trigger sensors producing measurements that flow into a sensor log. Vast majority of techniques to recognize and exploit the occurrences of human activities are...
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Industry 4.0 refers to the last revolution involving the manufacturing domain. Particularly, it is characterized by the introduction of innovative technologies and systems able to establish a high level of digitization. The adoption of these technologies is crucial to the development of more...
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We introduce a novel measure for quantifying the error in input predictions. The error is based on a minimum-cost hyperedge cover in a suitably defined hypergraph and provides a general template which we apply to online graph problems. The measure captures errors due to absent predicted requests as...