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About NIFTi
NIFTi is about human-robot cooperation. About teams of robots and humans doing tasks together, interacting together to try and reach a shared goal. NIFTi looks at how the robot could bear the human in mind. Literally. When determining what to do or say next in human-robot interaction; when, and how. NIFTi puts the human factor into cognitive robots, and human-robot team interaction in particular.   Each year, NIFTi evaluates its systems together with several USAR organizations. Rescue personnel teams up with NIFTi robots to carry out realistic missions, in real-life training areas. 

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DR 6.2.3: Trajectory analysis: principle and evalua- tion

One of the main objectives of NIFTi is to have an Unmanned Ground Vehicle (UGV) explore a disaster area. This requires specific motion capabilities around which the NIFTi UGV has been designed. Additionally to these physical capabilities, controlling robot motion in unstructured and uneven terrain implies powerful analysis and control algorithms. This report presents the results of WP6, focusing on trajectory analysis during year 2. First, we investigated the kinematic model of the robot, which is the relationship between the desired motion and control variables on one hand, and between the actual motion and sensor measurement on the other hand. Then we propose a method for gap detection and traversal. Finally we present a complete framework for 3D navigation.

m24-DR6.2.3-PUBLIC.pdf — PDF document, 7633Kb

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