Université de Neuchâtel

Self-positioning and localization of a mobile robot using vision-based behaviors

Tièche, François ; Ghai, Narinder Singh ; Hügli, Heinz

In: Proceeding. Mecatronics, Europe-Asia congress on Mechatronics, 1996, p. 1-7

This paper presents a method to localize a mobile robot in a topological map. This work enters a navigation method developed for mobile robots, which basic idea is to represent the robot spatial knowledge by a topological map and to use the behavioral approach to control the robot moves between fixed positions of the environment known as self-positioning sites. A feature of this method is that...

Université de Neuchâtel

A behaviour-based Architecture to Control an Autonomous Mobile Robot

Tièche, François ; Facchinetti Claudio ; Hügli, Heinz

In: Proceeding. Intelligent Autonomous Systems (IAS), 1995, vol. 4, p. 1-7

In this paper, we present the implementation of an autonomous mobile robot controller based on a behavioural architecture. This architecture is composed of three layers: sensori-motor, behavioural, sequencing. The paper describes its general structure and the function of its main elements. It further analyses the development of an example task presenting the advantages of such an architecture.

Université de Neuchâtel

Self-Positioning Robot Navigation Using Ceiling Image Sequences

Facchinetti Claudio ; Tièche, François ; Hügli, Heinz

In: Proceeding ACCV'95 (Asian Conference on Computer Vision), 1995, vol. 3, p. 814-818

This paper presents the analysis of a vision-based homing behavior that provides self-positioning for a mobile robot using ceiling structures as landmarks. This new behavior enters the navigation approach we developed for mobile robots, which basic idea is to represent the robot spatial knowledge in a topological map, where nodes consist of self-positioning sites and edges may be any reactive...

Université de Neuchâtel

From topological knowledge to geometrical map

Tièche, François ; Hügli, Heinz

In: Control Engineering Practice, 1999, vol. 7, no. 6, p. 797-802

The behavioral approach to robot navigation, characterized by a representation of the environment that is topological and robot-environmental interactions that are reactive, is preferable to purely geometrical navigation because it is far more robust against unpredictable changes of the environment. Nevertheless, there is still a need to obtain geometrical maps. This paper considers a geometrical...