Tomáš Krajník | University of Lincoln (original) (raw)

Papers by Tomáš Krajník

We present an evaluation of standard image features in the context of long-term visual teach-and-... more We present an evaluation of standard image features in the context of long-term visual teach-and-repeat mobile robot navigation, where the environment exhibits significant changes in appearance caused by seasonal weather variations and daily illumination changes. We argue that in the given long-term scenario, the viewpoint, scale and rotation invariance of the standard feature extractors is less important than their robustness to the mid-and long-term environment appearance changes. Therefore, we focus our evaluation on the robustness of image registration to variable lighting and naturally-occurring seasonal changes. We evaluate the image feature extractors on three datasets collected by mobile robots in two different outdoor environments over the course of one year. Based on this analysis, we propose a novel feature descriptor based on a combination of evolutionary algorithms and Binary Robust Independent Elementary Features, which we call GRIEF (Generated BRIEF). In terms of robu...

In this paper, a novel sampling schema for Rapidly Exploring Random Trees (RRT) is proposed to ad... more In this paper, a novel sampling schema for Rapidly Exploring Random Trees (RRT) is proposed to address the narrow passage issue. The introduced method employs a guiding path to steer the tree growth towards a given goal. The main idea of the proposed approach stands in a preference of the sampling of the configuration space C along a given guiding path instead of sampling of the whole space. While for a low- dimensional C the guiding path can be found as a geometric path in the robot workspace, such a path does not provide useful information for efficient sampling of a high-dimensional C. We propose an iterative scaling approach to find a guiding path in such high-dimensional configuration spaces. The approach starts with a scaled geometric model of the robot to a fraction of its original size for which a guiding path is found using the RRT algorithm. Then, such a path is iteratively used in the proposed RRT-Path algorithm for a larger robot up to its original size. The experimental...

2013 IEEE International Conference on Robotics and Automation, 2013

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

2014 IEEE International Conference on Robotics and Automation (ICRA), 2014

2013 16th International Conference on Advanced Robotics (ICAR), 2013

2013 International Conference on Unmanned Aircraft Systems (ICUAS), 2013

Springer Tracts in Advanced Robotics, 2008

Lecture Notes in Control and Information Sciences, 2009

ABSTRACT Motion planning is one of the most studied problems in robotics. Various methods for sol... more ABSTRACT Motion planning is one of the most studied problems in robotics. Various methods for solving this problem have been introduced in the last two decades. Applications beyond robotics including 3D object manipulation, computational biology, computational graphics, or drug folding are presented in [10]. During the last decade the RRT algorithm [11] has become widely used for solving the motion planning problem. The algorithm is based on random sampling of a configuration space. The sampled configurations are connected to a tree structure in which the result path can be found. The algorithm can be divided into three main parts: selection of a vertex for expansion, expansion and terminating condition. The original RRT algorithm is outlined in Algorithm 28.1.

2009 IEEE International Conference on Technologies for Practical Robot Applications, TePRA 2009, 2009

Communications in Computer and Information Science, 2009

ABSTRACT The aim of this paper is to present an intelligent autonomous robot for competition EURO... more ABSTRACT The aim of this paper is to present an intelligent autonomous robot for competition EUROBOT 08. In this ”Mission to Mars”, two robots attempt to gather, sort and dump objects scattered on a planar rectangular play-field. This paper descripts robot hardware, i.e. electromechanics of drive, chassis and extraction mechanism, and software, i.e. localization, collision avoidance, motion control and planning algorithms. The experience gained by participating on both national and international round is evaluated.

Communications in Computer and Information Science, 2010

Communications in Computer and Information Science, 2011

ABSTRACT The purpose of this paper is to introduce an autonomous mobile robot for object manipula... more ABSTRACT The purpose of this paper is to introduce an autonomous mobile robot for object manipulation that is the same size as the robot. The construction has to comply with the rules of Eurobot competition. We will provide an in-detail description of the omniwheel undercart, its motion and object manipulator. This paper also provides a small insight on the robot’s planned intelligence and its vision subsystem. KeywordsOmniwheel robot–Eurobot competition–gripping manipulator