CONTROLAB MUFA: a multi-level fusion architecture for intelligent navigation of a telerobot
Autor(a) principal: | |
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Data de Publicação: | 1999 |
Outros Autores: | , , , , |
Tipo de documento: | Relatório |
Idioma: | eng |
Título da fonte: | Repositório Institucional da UFRJ |
Texto Completo: | http://hdl.handle.net/11422/2596 |
Resumo: | This paper proposes a MUlti-level Fusion Architecture (MUFA) for controlling the navigation of a tele-commanded Autonomous Guided Vehicle (AGV). The architecture combines ideas derived from the fundamental concepts of sensor fusion and distributed intelligence. The focus of the work is the development of an intelligent navigation system for a tricycle drive AGV with the ability to move autonomously within any office enviromnent, following instructions issued by client stations connected to the office network and reacting accordingly to different situations found in the real world. The modules which integrate the MUFA architecture are discussed and results of some simulation experiments are presented. |
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Aude, Eliana Prado LopesCarneiro, G. H. M. B.Serdeira, HenriqueSilveira, Julio Tadeu CarvalhoMartins, Mario FerreiraLopes, Emerson Prado2017-08-04T13:12:14Z2023-11-30T03:02:13Z1999-12-31AUDE, E. P. L. et al. CONTROLAB MUFA: a multi-level fusion architecture for intelligent navigation of a telerobot. Rio de Janeiro: NCE, UFRJ, 2006. 18 p. (Relatório Técnico, 0/99)http://hdl.handle.net/11422/2596This paper proposes a MUlti-level Fusion Architecture (MUFA) for controlling the navigation of a tele-commanded Autonomous Guided Vehicle (AGV). The architecture combines ideas derived from the fundamental concepts of sensor fusion and distributed intelligence. The focus of the work is the development of an intelligent navigation system for a tricycle drive AGV with the ability to move autonomously within any office enviromnent, following instructions issued by client stations connected to the office network and reacting accordingly to different situations found in the real world. The modules which integrate the MUFA architecture are discussed and results of some simulation experiments are presented.Submitted by Elaine Almeida (elaine.almeida@nce.ufrj.br) on 2017-08-04T13:12:14Z No. of bitstreams: 1 06_99_000611267.pdf: 962049 bytes, checksum: 6256ce8967d92acd7be8ef8d4bb854fd (MD5)Made available in DSpace on 2017-08-04T13:12:14Z (GMT). No. of bitstreams: 1 06_99_000611267.pdf: 962049 bytes, checksum: 6256ce8967d92acd7be8ef8d4bb854fd (MD5) Previous issue date: 1999-12-31engRelatório Técnico NCECNPQ::CIENCIAS EXATAS E DA TERRA::CIENCIA DA COMPUTACAO::SISTEMAS DE COMPUTACAOSistemas autônomosComputação móvelRobôsCONTROLAB MUFA: a multi-level fusion architecture for intelligent navigation of a telerobotinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/report0699abertoBrasilInstituto Tércio Pacitti de Aplicações e Pesquisas Computacionaisinfo:eu-repo/semantics/openAccessreponame:Repositório Institucional da UFRJinstname:Universidade Federal do Rio de Janeiro (UFRJ)instacron:UFRJORIGINAL06_99_000611267.pdf06_99_000611267.pdfapplication/pdf962049http://pantheon.ufrj.br:80/bitstream/11422/2596/1/06_99_000611267.pdf6256ce8967d92acd7be8ef8d4bb854fdMD51LICENSElicense.txtlicense.txttext/plain; charset=utf-81853http://pantheon.ufrj.br:80/bitstream/11422/2596/2/license.txtdd32849f2bfb22da963c3aac6e26e255MD52TEXT06_99_000611267.pdf.txt06_99_000611267.pdf.txtExtracted texttext/plain31153http://pantheon.ufrj.br:80/bitstream/11422/2596/3/06_99_000611267.pdf.txta21367dd446307debcc734bafbe2af1aMD5311422/25962023-11-30 00:02:13.955oai:pantheon.ufrj.br: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Repositório de PublicaçõesPUBhttp://www.pantheon.ufrj.br/oai/requestopendoar:2023-11-30T03:02:13Repositório Institucional da UFRJ - Universidade Federal do Rio de Janeiro (UFRJ)false |
dc.title.en.fl_str_mv |
CONTROLAB MUFA: a multi-level fusion architecture for intelligent navigation of a telerobot |
title |
CONTROLAB MUFA: a multi-level fusion architecture for intelligent navigation of a telerobot |
spellingShingle |
CONTROLAB MUFA: a multi-level fusion architecture for intelligent navigation of a telerobot Aude, Eliana Prado Lopes CNPQ::CIENCIAS EXATAS E DA TERRA::CIENCIA DA COMPUTACAO::SISTEMAS DE COMPUTACAO Sistemas autônomos Computação móvel Robôs |
title_short |
CONTROLAB MUFA: a multi-level fusion architecture for intelligent navigation of a telerobot |
title_full |
CONTROLAB MUFA: a multi-level fusion architecture for intelligent navigation of a telerobot |
title_fullStr |
CONTROLAB MUFA: a multi-level fusion architecture for intelligent navigation of a telerobot |
title_full_unstemmed |
CONTROLAB MUFA: a multi-level fusion architecture for intelligent navigation of a telerobot |
title_sort |
CONTROLAB MUFA: a multi-level fusion architecture for intelligent navigation of a telerobot |
author |
Aude, Eliana Prado Lopes |
author_facet |
Aude, Eliana Prado Lopes Carneiro, G. H. M. B. Serdeira, Henrique Silveira, Julio Tadeu Carvalho Martins, Mario Ferreira Lopes, Emerson Prado |
author_role |
author |
author2 |
Carneiro, G. H. M. B. Serdeira, Henrique Silveira, Julio Tadeu Carvalho Martins, Mario Ferreira Lopes, Emerson Prado |
author2_role |
author author author author author |
dc.contributor.author.fl_str_mv |
Aude, Eliana Prado Lopes Carneiro, G. H. M. B. Serdeira, Henrique Silveira, Julio Tadeu Carvalho Martins, Mario Ferreira Lopes, Emerson Prado |
dc.subject.cnpq.fl_str_mv |
CNPQ::CIENCIAS EXATAS E DA TERRA::CIENCIA DA COMPUTACAO::SISTEMAS DE COMPUTACAO |
topic |
CNPQ::CIENCIAS EXATAS E DA TERRA::CIENCIA DA COMPUTACAO::SISTEMAS DE COMPUTACAO Sistemas autônomos Computação móvel Robôs |
dc.subject.por.fl_str_mv |
Sistemas autônomos Computação móvel Robôs |
description |
This paper proposes a MUlti-level Fusion Architecture (MUFA) for controlling the navigation of a tele-commanded Autonomous Guided Vehicle (AGV). The architecture combines ideas derived from the fundamental concepts of sensor fusion and distributed intelligence. The focus of the work is the development of an intelligent navigation system for a tricycle drive AGV with the ability to move autonomously within any office enviromnent, following instructions issued by client stations connected to the office network and reacting accordingly to different situations found in the real world. The modules which integrate the MUFA architecture are discussed and results of some simulation experiments are presented. |
publishDate |
1999 |
dc.date.issued.fl_str_mv |
1999-12-31 |
dc.date.accessioned.fl_str_mv |
2017-08-04T13:12:14Z |
dc.date.available.fl_str_mv |
2023-11-30T03:02:13Z |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/report |
format |
report |
status_str |
publishedVersion |
dc.identifier.citation.fl_str_mv |
AUDE, E. P. L. et al. CONTROLAB MUFA: a multi-level fusion architecture for intelligent navigation of a telerobot. Rio de Janeiro: NCE, UFRJ, 2006. 18 p. (Relatório Técnico, 0/99) |
dc.identifier.uri.fl_str_mv |
http://hdl.handle.net/11422/2596 |
identifier_str_mv |
AUDE, E. P. L. et al. CONTROLAB MUFA: a multi-level fusion architecture for intelligent navigation of a telerobot. Rio de Janeiro: NCE, UFRJ, 2006. 18 p. (Relatório Técnico, 0/99) |
url |
http://hdl.handle.net/11422/2596 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.relation.ispartof.pt_BR.fl_str_mv |
Relatório Técnico NCE |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.publisher.country.fl_str_mv |
Brasil |
dc.publisher.department.fl_str_mv |
Instituto Tércio Pacitti de Aplicações e Pesquisas Computacionais |
dc.source.none.fl_str_mv |
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Universidade Federal do Rio de Janeiro (UFRJ) |
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UFRJ |
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UFRJ |
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Repositório Institucional da UFRJ |
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Repositório Institucional da UFRJ |
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