Eric Colon – Robotics & Autonomous Systems

Professor

Robotics & Autonomous Systems,
Royal Military Academy

Address

Avenue De La Renaissance 30, 1000 Brussels, Belgium

Contact Information

Call: +32(0)2-44-14109

Email: eric.colon@rma.ac.be

Eric Colon is professor in mechanics and robotics at the Mechanics department of the Royal Military Academy.

Publications

2011

D. Doroftei and E. Colon, “Decentralized multi-robot coordination for a risky surveillance application," in Proc. IARP HUDEM 2011, Sibenik, Croatia, 2011.
[BibTeX] [Abstract] [Download PDF]

This paper proposes a multi-robot control methodology that is based on a behavior-based control framework. In this behavior-based context, the robotic team members are controlled using one of 2 mutually exclusive behaviors: patrolling or intercepting. In patrol mode the robot seeks to detect enemy forces as rapidly as possible, by balancing 2 constraints: the intervention time should be minimized and the map coverage should be maximized. In interception mode, the robot tries to advance towards an enemy which was detected by one of the robotic team members. Subsequently, the robot tries to neutralize the threat posed by the enemy before enemy is able to reach the camp.

@InProceedings{doro2011decentralized,
author = {Doroftei, Daniela and Colon, Eric},
booktitle = {Proc. {IARP} {HUDEM} 2011},
title = {Decentralized multi-robot coordination for a risky surveillance application},
year = {2011},
publisher = {{IARP}},
abstract = {This paper proposes a multi-robot control methodology that is based on a behavior-based control framework. In this behavior-based context, the robotic team members are controlled using one of 2 mutually exclusive behaviors: patrolling or intercepting. In patrol mode the robot seeks to detect enemy forces as rapidly as possible, by balancing 2 constraints: the intervention time should be minimized and the map coverage should be maximized. In interception mode, the robot tries to advance towards an enemy which was detected by one of the robotic team members. Subsequently, the robot tries to neutralize the threat posed by the enemy before enemy is able to reach the camp. },
project = {NMRS},
address = {Sibenik, Croatia},
url = {http://mecatron.rma.ac.be/pub/2011/HUDEM2011_Doroftei_Colon.pdf},
unit= {meca-ras}
}

2010

Y. Baudoin, D. Doroftei, G. De Cubber, S. A. Berrabah, E. Colon, C. Pinzon, A. Maslowski, J. Bedkowski, and J. PENDERS, “VIEW-FINDER: Robotics Assistance to fire-Fighting services," in Mobile Robotics: Solutions and Challenges, , 2010, p. 397–406.
[BibTeX] [Abstract] [Download PDF]

This paper presents an overview of the View-Finder project

@InCollection{baudoin2010view,
author = {Baudoin, Yvan and Doroftei, Daniela and De Cubber, Geert and Berrabah, Sid Ahmed and Colon, Eric and Pinzon, Carlos and Maslowski, Andrzej and Bedkowski, Janusz and PENDERS, Jacques},
booktitle = {Mobile Robotics: Solutions and Challenges},
title = {{VIEW-FINDER}: Robotics Assistance to fire-Fighting services},
year = {2010},
pages = {397--406},
abstract = {This paper presents an overview of the View-Finder project},
project = {ViewFinder},
unit= {meca-ras},
url = {https://books.google.be/books?id=zcfFCgAAQBAJ&pg=PA397&lpg=PA397&dq=VIEW-FINDER: Robotics Assistance to fire-Fighting services mobile robots&source=bl&ots=Jh6P63OKCr&sig=O1GPy_c42NPSEdO8Hb_pa9V6K7g&hl=en&sa=X&ved=2ahUKEwiLr76B-5zfAhUMCewKHQS_Af0Q6AEwDXoECAEQAQ#v=onepage&q=VIEW-FINDER: Robotics Assistance to fire-Fighting services mobile robots&f=false},
}

Y. Baudoin, G. De Cubber, E. Colon, D. Doroftei, and S. A. Berrabah, “Robotics Assistance by Risky Interventions: Needs and Realistic Solutions," in Workshop on Robotics for Extreme conditions, Saint-Petersburg, Russia, 2010.
[BibTeX] [Abstract] [Download PDF]

This paper discusses the requirements towards robotics systems in the domains of firefighting, CBRN-E and humanitarian demining.

@InProceedings{baudoin2010robotics,
author = {Baudoin, Yvan and De Cubber, Geert and Colon, Eric and Doroftei, Daniela and Berrabah, Sid Ahmed},
booktitle = {Workshop on Robotics for Extreme conditions},
title = {Robotics Assistance by Risky Interventions: Needs and Realistic Solutions},
year = {2010},
abstract = {This paper discusses the requirements towards robotics systems in the domains of firefighting, CBRN-E and humanitarian demining.},
project = {ViewFinder, Mobiniss},
address = {Saint-Petersburg, Russia},
url = {http://mecatron.rma.ac.be/pub/2010/Robotics Assistance by risky interventions.pdf},
unit= {meca-ras}
}

D. Doroftei and E. Colon, “Decentralized Multi-Robot Coordination in an Urban Environment," European Journal of Mechanical en Environmental Engineering, vol. 1, 2010.
[BibTeX] [Abstract] [Download PDF]

In this paper, a novel control strategy is presented for multi‐robot coordination. An important aspect of the presented control architecture is that it is formulated in a decentralized context. This means that the robots cannot rely on traditional global path planning algorithms for navigation. The presented approach casts the multi‐robot control problem as a behavior‐based control problem.

@Article{doro2010decentralized,
author = {Doroftei, Daniela and Colon, Eric},
journal = {European Journal of Mechanical en Environmental Engineering},
title = {Decentralized Multi-Robot Coordination in an Urban Environment},
year = {2010},
volume = {1},
abstract = {In this paper, a novel control strategy is presented for multi‐robot coordination. An important aspect of the presented control architecture is that it is formulated in a decentralized context. This means that the robots cannot rely on traditional global path planning algorithms for navigation. The presented approach casts the multi‐robot control problem as a behavior‐based control problem. },
project = {NMRS},
address = {Sheffield, UK},
url = {http://mecatron.rma.ac.be/pub/2010/EJMEE2010_doroftei_colon.pdf},
unit= {meca-ras}
}

D. Doroftei and E. Colon, “Multi-robot collaboration and coordination in a high-risk transportation scenario," in Proc. IARP HUDEM 2010, Sousse, Tunisia, 2010.
[BibTeX] [Abstract] [Download PDF]

This paper discusses a decentralized multi-robot coordination strategy which aims to control and guide a team of robotic agents safely through a hostile area. The ”hostility” of the environment is due to the presence of enemy forces, seeking to intercept the robotic team. In order to avoid detection and ensure global team safety, the robotic agents must carefully plan their trajectory towards a list of goal locations, while holding a defensive formation.

@InProceedings{doro2001multi,
author = {Doroftei, Daniela and Colon, Eric},
booktitle = {Proc. {IARP} {HUDEM} 2010},
title = {Multi-robot collaboration and coordination in a high-risk transportation scenario},
year = {2010},
publisher = {{IARP}},
abstract = {This paper discusses a decentralized multi-robot coordination strategy which aims to control and guide a team of robotic agents safely through a hostile area. The ”hostility” of the environment is due to the presence of enemy forces, seeking to intercept the robotic team. In order to avoid detection and ensure global team safety, the robotic agents must carefully plan their trajectory towards a list of goal locations, while holding a defensive formation. },
project = {NMRS},
address = {Sousse, Tunisia},
url = {http://mecatron.rma.ac.be/pub/HUDEM/HUDEM%20-%202010/HUDEM2010_Doroftei.pdf},
unit= {meca-ras}
}

D. Doroftei and E. Colon, “Decentralized Multi-Robot Coordination for Risky Interventions," in Fourth International Workshop on Robotics for risky interventions and Environmental Surveillance-Maintenance RISE, Sheffield, UK, 2010.
[BibTeX] [Abstract] [Download PDF]

The paper describes an approach to design a behavior-based architecture, how each behavior was designed and how the behavior fusion problem was solved.

@InProceedings{doro2010multibis,
author = {Doroftei, Daniela and Colon, Eric},
booktitle = {Fourth International Workshop on Robotics for risky interventions and Environmental Surveillance-Maintenance {RISE}},
title = {Decentralized Multi-Robot Coordination for Risky Interventions},
year = {2010},
abstract = {The paper describes an approach to design a behavior-based architecture, how each behavior was designed and how the behavior fusion problem was solved.},
project = {NMRS, ViewFinder},
address = {Sheffield, UK},
url = {http://mecatron.rma.ac.be/pub/RISE/RISE%20-%202010/Decentralized%20Multi-Robot%20Coordination%20for%20Risky%20Interventio.pdf},
unit= {meca-ras}
}

2009

D. Doroftei, G. De Cubber, E. Colon, and Y. Baudoin, “Behavior based control for an outdoor crisis management robot," in Proceedings of the IARP International Workshop on Robotics for Risky Interventions and Environmental Surveillance, Brussels, Belgium, 2009, p. 12–14.
[BibTeX] [Abstract] [Download PDF]

The design and development of a control architecture for a robotic crisis management agent raises 3 main questions: 1. How can we design the individual behaviors, such that the robot is capable of avoiding obstacles and of navigating semi-autonomously? 2. How can these individual behaviors be combined in an optimal, leading to a rational and coherent global robot behavior? 3. How can all these capabilities be combined in a comprehensive and modular framework, such that the robot can handle a high-level task (searching for human victims) with minimal input from human operators, by navigating in a complex, dynamic and environment, while avoiding potentially hazardous obstacles? In this paper, we present each of these three main aspects of the general robot control architecture more in detail.

@InProceedings{doroftei2009behavior,
author = {Doroftei, Daniela and De Cubber, Geert and Colon, Eric and Baudoin, Yvan},
booktitle = {Proceedings of the IARP International Workshop on Robotics for Risky Interventions and Environmental Surveillance},
title = {Behavior based control for an outdoor crisis management robot},
year = {2009},
pages = {12--14},
abstract = {The design and development of a control architecture for a robotic crisis management agent raises 3 main questions:
1. How can we design the individual behaviors, such that the robot is capable of avoiding obstacles and of navigating semi-autonomously?
2. How can these individual behaviors be combined in an optimal, leading to a rational and coherent global robot behavior?
3. How can all these capabilities be combined in a comprehensive and modular framework, such that the robot can handle a high-level task (searching for human victims) with minimal input from human operators, by navigating in a complex, dynamic and environment, while avoiding potentially hazardous obstacles?
In this paper, we present each of these three main aspects of the general robot control architecture more in detail.},
project = {ViewFinder, Mobiniss},
address = {Brussels, Belgium},
url = {http://mecatron.rma.ac.be/pub/2009/RISE-DOROFTEI.pdf},
unit= {meca-ras}
}

Y. Baudoin, D. Doroftei, G. De Cubber, S. A. Berrabah, E. Colon, C. Pinzon, A. Maslowski, and J. Bedkowski, “View-Finder: a European project aiming the Robotics assistance to Fire-fighting services and Crisis Management," in IARP workshop on Service Robotics and Nanorobotics, Bejing, China, 2009.
[BibTeX] [Abstract] [Download PDF]

In the event of an emergency due to a fire or other crisis, a necessary but time consuming pre-requisite, that could delay the real rescue operation, is to establish whether the ground or area can be entered safely by human emergency workers. The objective of the VIEW-FINDER project is to develop robots which have the primary task of gathering data. The robots are equipped with sensors that detect the presence of chemicals and, in parallel, image data is collected and forwarded to an advanced Control station (COC). The robots will be equipped with a wide array of chemical sensors, on-board cameras, Laser and other sensors to enhance scene understanding and reconstruction. At the control station the data is processed and combined with geographical information originating from a web of sources; thus providing the personnel leading the operation with in-situ processed data that can improve decision making. The information may also be forwarded to other forces involved in the operation (e.g. fire fighters, rescue workers, police, etc.). The robots connect wirelessly to the control station. The control station collects in-situ data and combines it with information retrieved from the large-scale GMES-information bases. It will be equipped with a sophisticated human interface to display the processed information to the human operators and operation command. We’ll essentially focus in this paper to the steps entrusted to the RMA and PIAP through the work-packages of the project.

@InProceedings{baudoin2009view03,
author = {Baudoin, Yvan and Doroftei, Daniela and De Cubber, Geert and Berrabah, Sid Ahmed and Colon, Eric and Pinzon, Carlos and Maslowski, Andrzej and Bedkowski, Janusz},
booktitle = {IARP workshop on Service Robotics and Nanorobotics},
title = {{View-Finder}: a European project aiming the Robotics assistance to Fire-fighting services and Crisis Management},
year = {2009},
abstract = {In the event of an emergency due to a fire or other crisis, a necessary but time consuming pre-requisite, that could delay the real rescue operation, is to establish whether the ground or area can be entered safely by human emergency workers. The objective of the VIEW-FINDER project is to develop robots which have the primary task of gathering data. The robots are equipped with sensors that detect the presence of chemicals and, in parallel, image data is collected and forwarded to an advanced Control station (COC). The robots will be equipped with a wide array of chemical sensors, on-board cameras, Laser and other sensors to enhance scene understanding and reconstruction. At the control station the data is processed and combined with geographical information originating from a web of sources; thus providing the personnel leading the operation with in-situ processed data that can improve decision making. The information may also be forwarded to other forces involved in the operation (e.g. fire fighters, rescue workers, police, etc.). The robots connect wirelessly to the control station. The control station collects in-situ data and combines it with information retrieved from the large-scale GMES-information bases. It will be equipped with a sophisticated human interface to display the processed information to the human operators and operation command.
We’ll essentially focus in this paper to the steps entrusted to the RMA and PIAP through the work-packages of the project.},
project = {ViewFinder},
address = {Bejing, China},
url = {http://mecatron.rma.ac.be/pub/2009/IARP-paper2009.pdf},
unit= {meca-ras}
}

Y. Baudoin, G. De Cubber, S. A. Berrabah, D. Doroftei, E. Colon, C. Pinzon, A. Maslowski, and J. Bedkowski, “VIEW-FINDER: European Project Aiming CRISIS MANAGEMENT TOOLS and the Robotics Assistance to Fire-Fighting Services," in IARP WS on service Robotics, Beijing, Bejing, China, 2009.
[BibTeX] [Abstract] [Download PDF]

Overview of the View-Finder project

@InProceedings{baudoin2009view04,
author = {Baudoin, Yvan and De Cubber, Geert and Berrabah, Sid Ahmed and Doroftei, Daniela and Colon, E and Pinzon, C and Maslowski, A and Bedkowski, J},
booktitle = {IARP WS on service Robotics, Beijing},
title = {{VIEW-FINDER}: European Project Aiming CRISIS MANAGEMENT TOOLS and the Robotics Assistance to Fire-Fighting Services},
year = {2009},
abstract = {Overview of the View-Finder project},
project = {ViewFinder},
address = {Bejing, China},
unit= {meca-ras},
url = {https://www.academia.edu/2879650/VIEW-FINDER_European_Project_Aiming_CRISIS_MANAGEMENT_TOOLS_and_the_Robotics_Assistance_to_Fire-Fighting_Services},
}

D. Doroftei, E. Colon, Y. Baudoin, and H. Sahli, “Development of a behaviour-based control and software architecture for a visually guided mine detection robot," European Journal of Automated Systems (JESA), vol. 43, iss. 3, p. 295–314, 2009.
[BibTeX] [Abstract] [Download PDF]

Humanitarian demining is a labor-intensive and high-risk which could benefit from the development of a humanitarian mine detection robot, capable of scanning a minefield semi-automatically. The design of such an outdoor autonomous robots requires the consideration and integration of multiple aspects: sensing, data fusion, path and motion planning and robot control embedded in a control and software architecture. This paper focuses on three main aspects of the design process: visual sensing using stereo and image motion analysis, design of a behaviour-based control architecture and implementation of a modular software architecture.

@Article{doro2009development,
author = {Doroftei, Daniela and Colon, Eric and Baudoin, Yvan and Sahli, Hichem},
journal = {European Journal of Automated Systems ({JESA})},
title = {Development of a behaviour-based control and software architecture for a visually guided mine detection robot},
year = {2009},
volume = {43},
number = {3},
abstract = { Humanitarian demining is a labor-intensive and high-risk which could benefit from the development of a humanitarian mine detection robot, capable of scanning a minefield semi-automatically. The design of such an outdoor autonomous robots requires the consideration and integration of multiple aspects: sensing, data fusion, path and motion planning and robot control embedded in a control and software architecture. This paper focuses on three main aspects of the design process: visual sensing using stereo and image motion analysis, design of a behaviour-based control architecture and implementation of a modular software architecture.},
pages = {295--314},
project = {Mobiniss, ViewFinder},
url = {http://mecatron.rma.ac.be/pub/2009/doc-article-hermes.pdf},
unit= {meca-ras}
}

2008

D. Doroftei, E. Colon, and G. De Cubber, “A Behaviour-Based Control and Software Architecture for the Visually Guided Robudem Outdoor Mobile Robot," Journal of Automation Mobile Robotics and Intelligent Systems, vol. 2, iss. 4, p. 19–24, 2008.
[BibTeX] [Abstract] [Download PDF]

The design of outdoor autonomous robots requires the careful consideration and integration of multiple aspects: sensors and sensor data fusion, design of a control and software architecture, design of a path planning algorithm and robot control. This paper describes partial aspects of this research work, which is aimed at developing a semiautonomous outdoor robot for risky interventions. This paper focuses on three main aspects of the design process: visual sensing using stereo vision and image motion analysis, design of a behaviourbased control architecture and implementation of modular software architecture.

@Article{doroftei2008behaviour,
author = {Doroftei, Daniela and Colon, Eric and De Cubber, Geert},
journal = {Journal of Automation Mobile Robotics and Intelligent Systems},
title = {A Behaviour-Based Control and Software Architecture for the Visually Guided Robudem Outdoor Mobile Robot},
year = {2008},
issn = {1897-8649},
month = oct,
number = {4},
pages = {19--24},
volume = {2},
abstract = {The design of outdoor autonomous robots requires the careful consideration and integration of multiple aspects: sensors and sensor data fusion, design of a control and software architecture, design of a path planning algorithm and robot control. This paper describes partial aspects of this research work, which is aimed at developing a semiautonomous outdoor robot for risky interventions. This paper focuses on three main aspects of the design process: visual sensing using stereo vision and image motion analysis, design of a behaviourbased control architecture and implementation of modular software architecture.},
project = {ViewFinder, Mobiniss},
url = {http://mecatron.rma.ac.be/pub/2008/XXX JAMRIS No8 - Doroftei.pdf},
unit= {meca-ras}
}

2007

E. Colon, G. De Cubber, H. Ping, J. Habumuremyi, H. Sahli, and Y. Baudoin, “Integrated Robotic systems for Humanitarian Demining," International Journal of Advanced Robotic Systems, vol. 4, iss. 2, p. 24, 2007.
[BibTeX] [Abstract] [Download PDF] [DOI]

This paper summarises the main results of 10 years of research and development in Humanitarian Demining. The Hudem project focuses on mine detection systems and aims at provided different solutions to support the mine detection operations. Robots using different kind of locomotion systems have been designed and tested on dummy minefields. In order to control these robots, software interfaces, control algorithms, visual positioning and terrain following systems have also been developed. Typical data acquisition results obtained during trial campaigns with robots and data acquisition systems are reported. Lessons learned during the project and future work conclude this paper.

@Article{colon2007integrated,
author = {Colon, Eric and De Cubber, Geert and Ping, Hong and Habumuremyi, Jean-Claude and Sahli, Hichem and Baudoin, Yvan},
journal = {International Journal of Advanced Robotic Systems},
title = {Integrated Robotic systems for Humanitarian Demining},
year = {2007},
month = jun,
number = {2},
pages = {24},
volume = {4},
abstract = {This paper summarises the main results of 10 years of research and development in Humanitarian Demining. The Hudem project focuses on mine detection systems and aims at provided different solutions to support the mine detection operations. Robots using different kind of locomotion systems have been designed and tested on dummy minefields. In order to control these robots, software interfaces, control algorithms, visual positioning and terrain following systems have also been developed. Typical data acquisition results obtained during trial campaigns with robots and data acquisition systems are reported. Lessons learned during the project and future work conclude this paper.},
doi = {10.5772/5694},
publisher = {{SAGE} Publications},
project = {Mobiniss},
url = {http://mecatron.rma.ac.be/pub/2007/10.1.1.691.7544.pdf},
unit= {meca-ras}
}

D. Doroftei, E. Colon, and G. De Cubber, “A behaviour-based control and software architecture for the visually guided Robudem outdoor mobile robot,," in ISMCR 2007, Warsaw, Poland,, 2007.
[BibTeX] [Abstract] [Download PDF]

The design of outdoor autonomous robots requires the careful consideration and integration of multiple aspects: sensors and sensor data fusion, design of a control and software architecture, design of a path planning algorithm and robot control. This paper describes partial aspects of this research work, which is aimed at developing an semi‐autonomous outdoor robot for risky interventions. This paper focuses mainly on three main aspects of the design process: visual sensing using stereo and image motion analysis, design of a behaviour‐based control architecture and implementation of a modular software architecture.

@InProceedings{doroftei2007behaviour,
author = {Doroftei, Daniela and Colon, Eric and De Cubber, Geert},
booktitle = {ISMCR 2007},
title = {A behaviour-based control and software architecture for the visually guided {Robudem} outdoor mobile robot,},
year = {2007},
address = {Warsaw, Poland,},
abstract = {The design of outdoor autonomous robots requires the careful consideration and integration of multiple aspects: sensors and sensor data fusion, design of a control and software architecture, design of a path planning algorithm and robot control. This paper describes partial aspects of this research work, which is aimed at developing an semi‐autonomous outdoor robot for risky interventions. This paper focuses mainly on three main aspects of the design process: visual sensing using stereo and image motion analysis, design of a behaviour‐based control architecture and implementation of a modular software architecture.},
project = {ViewFinder,Mobiniss},
url = {http://mecatron.rma.ac.be/pub/2007/Doroftei_ISMCR07.pdf},
unit= {meca-ras}
}

D. Doroftei, E. Colon, Y. Baudoin, and H. Sahli, “Development of a semi-autonomous off-road vehicle.," in IEEE HuMan’07’, Timimoun, Algeria, 2007, p. 340–343.
[BibTeX] [Abstract] [Download PDF]

Humanitarian demining is still a highly laborintensive and high-risk operation. Advanced sensors and mechanical aids can significantly reduce the demining time. In this context, it is the aim to develop a humanitarian demining mobile robot which is able to scan semi-automatically a minefield. This paper discusses the development of a control scheme for such a semi-autonomous mobile robot for humanitarian demining. This process requires the careful consideration and integration of multiple aspects: sensors and sensor data fusion, design of a control and software architecture, design of a path planning algorithm and robot control.

@InProceedings{doro2007development,
author = {Doroftei, Daniela and Colon, Eric and Baudoin, Yvan and Sahli, Hichem},
booktitle = {{IEEE} {HuMan}'07'},
title = {Development of a semi-autonomous off-road vehicle.},
year = {2007},
address = {Timimoun, Algeria},
pages = {340--343},
abstract = {Humanitarian demining is still a highly laborintensive and high-risk operation. Advanced sensors and mechanical aids can significantly reduce the demining time. In this context, it is the aim to develop a humanitarian demining mobile robot which is able to scan semi-automatically a minefield. This paper discusses the development of a control scheme for such a semi-autonomous mobile robot for humanitarian demining. This process requires the careful consideration and integration of multiple aspects: sensors and sensor data fusion, design of a control and software architecture, design of a path planning algorithm and robot control.},
project = {Mobiniss, ViewFinder},
url = {http://mecatron.rma.ac.be/pub/2007/Development_of_a_semi-autonomous_off-road_vehicle.pdf},
unit= {meca-ras}
}

2006

D. Doroftei, E. Colon, and Y. Baudoin, “A modular control architecture for semi-autonomous navigation," in CLAWAR 2006, Brussels, Belgium, 2006, p. 712–715.
[BibTeX] [Abstract] [Download PDF]

Humanitarian demining is still a highly laborintensive and high-risk operation. Advanced sensors and mechanical aids can significantly reduce the demining time. In this context, it is the aim to develop a humanitarian demining mobile robot which is able to scan semi-automatically a minefield. This paper discusses the development of a control scheme for such a semi-autonomous mobile robot for humanitarian demining. This process requires the careful consideration and integration of multiple aspects: sensors and sensor data fusion, design of a control and software architecture, design of a path planning algorithm and robot control.

@InProceedings{doro2006modular,
author = {Doroftei, Daniela and Colon, Eric and Baudoin, Yvan},
booktitle = {{CLAWAR} 2006},
title = {A modular control architecture for semi-autonomous navigation},
year = {2006},
pages = {712--715},
abstract = {Humanitarian demining is still a highly laborintensive and high-risk operation. Advanced sensors and mechanical aids can significantly reduce the demining time. In this context, it is the aim to develop a humanitarian demining mobile robot which is able to scan semi-automatically a minefield. This paper discusses the development of a control scheme for such a semi-autonomous mobile robot for humanitarian demining. This process requires the careful consideration and integration of multiple aspects: sensors and sensor data fusion, design of a control and software architecture, design of a path planning algorithm and robot control. },
project = {Mobiniss, ViewFinder},
address = {Brussels, Belgium},
url = {http://mecatron.rma.ac.be/pub/2006/Clawar2006_Doroftei_colon.pdf},
unit= {meca-ras}
}

D. Doroftei, E. Colon, and Y. Baudoin, “Development of a control architecture for the ROBUDEM outdoor mobile robot platform," in IARP Workshop RISE 2006, Brussels, Belgium, 2006.
[BibTeX] [Abstract] [Download PDF]

Humanitarian demining still is a highly labor-intensive and high-risk operation. Advanced sensors and mechanical aids can significantly reduce the demining time. In this context, it is the aim to develop a humanitarian demining mobile robot which is able to scan a minefield semi-automatically. This paper discusses the development of a control scheme for such a semi-autonomous mobile robot for humanitarian demining. This process requires the careful consideration and integration of multiple aspects: sensors and sensor data fusion, design of a control and software architecture, design of a path planning algorithm and robot control.

@InProceedings{doro2006development,
author = {Doroftei, Daniela and Colon, Eric and Baudoin, Yvan},
booktitle = {{IARP} Workshop {RISE} 2006},
title = {Development of a control architecture for the ROBUDEM outdoor mobile robot platform},
year = {2006},
abstract = {Humanitarian demining still is a highly labor-intensive and high-risk operation. Advanced sensors and mechanical aids can significantly reduce the demining time. In this context, it is the aim to develop a humanitarian demining mobile robot which is able to scan a minefield semi-automatically. This paper discusses the development of a control scheme for such a semi-autonomous mobile robot for humanitarian demining. This process requires the careful consideration and integration of multiple aspects: sensors and sensor data fusion, design of a control and software architecture, design of a path planning algorithm and robot control. },
project = {Mobiniss, ViewFinder},
address = {Brussels, Belgium},
url = {http://mecatron.rma.ac.be/pub/2006/IARPWS2006_Doroftei_Colon.pdf},
unit= {meca-ras}
}

2003

G. De Cubber, H. Sahli, E. Colon, and Y. Baudoin, “Visual Servoing under Changing Illumination Conditions," in Proc. International Workshop on Attention and Performance in Computer Vision (ICVS03), Graz, Austria, 2003, p. 47–54.
[BibTeX] [Abstract] [Download PDF]

Visual servoing, or the control of motion on the basis of image analysis in a closed loop, is more and more recognized as an important tool in modern robotics. In this paper, we present a new model-driven approach to derive a description of the motion of a target object. This method can be subdivided into an illumination invariant target detection stage and a servoing process which uses an adaptive Kalman filter to update the model of the nonlinear system. This technique can be applied to any pan-tilt-zoom camera mounted on a mobile vehicle as well as to a static camera tracking moving environmental features

@InProceedings{de2003visual,
author = {De Cubber, Geert and Sahli, Hichem and Colon, Eric and Baudoin, Yvan},
booktitle = {Proc. International Workshop on Attention and Performance in Computer Vision (ICVS03)},
title = {Visual Servoing under Changing Illumination Conditions},
year = {2003},
pages = {47--54},
address = {Graz, Austria},
abstract = {Visual servoing, or the control of motion on the basis of image analysis in a closed loop, is more and more recognized as an important tool in modern robotics. In this paper, we present a new model-driven approach to derive a description of the motion of a target object. This method can be subdivided into an illumination invariant target detection stage and a servoing process which uses an adaptive Kalman filter to update the model of the nonlinear system. This technique can be applied to any pan-tilt-zoom camera mounted on a mobile vehicle as well as to a static camera tracking moving environmental features},
url = {http://mecatron.rma.ac.be/pub/2003/ICVS03_Geert.pdf},
project = {Mobiniss},
unit= {meca-ras,vub-etro}
}

2002

G. De Cubber, H. Sahli, H. Ping, and E. Colon, “A Colour Constancy Approach for Illumination Invariant Colour Target Tracking," in IARP Workshop on Robots for Humanitarian Demining, Vienna, Austria, 2002.
[BibTeX] [Abstract] [Download PDF]

Many robotic agents use color vision to retrieve quality information about the environment. In this work, we present a visual servoing technique, where vision is the primary sensing modality and sensing is based upon the analysis of the perceived visual information. We describe how colored targets can be identified and how their position and motion can be estimated quickly and reliably. The visual servoing procedure is essentially a four-stage process, with color target identification, motion parameter estimation, target tracking and target position estimation. These individual parts add up to a global vision system enabling precise positioning for a demining robot.

@InProceedings{de2002colour,
author = {De Cubber, Geert and Sahli, Hichem and Ping, Hong and Colon, Eric},
booktitle = {IARP Workshop on Robots for Humanitarian Demining},
title = {A Colour Constancy Approach for Illumination Invariant Colour Target Tracking},
year = {2002},
address = {Vienna, Austria},
abstract = {Many robotic agents use color vision to retrieve quality information about the environment. In this work, we present a visual servoing technique, where vision is the primary sensing modality and sensing is based upon the analysis of the perceived visual information. We describe how colored targets can be identified and how their position and motion can be estimated quickly and reliably. The visual servoing procedure is essentially a four-stage process, with color target identification, motion parameter estimation, target tracking and target position estimation. These individual parts add up to a global vision system enabling precise positioning for a demining robot.},
url = {http://mecatron.rma.ac.be/pub/2002/Paper IARP - Geert De Cubber.pdf},
project = {Mobiniss},
unit= {meca-ras,vub-etro}
}