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ia
n J
o
urna
l o
f
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lect
rica
l En
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ineering
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m
pu
t
er
Science
Vo
l.
22
,
No
.
3
,
J
u
n
e
2
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2
1
,
p
p
.
1365
~
1
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7
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2
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1365
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:
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ttp
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Im
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ROS
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s
:
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ter
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C
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p
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A
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:
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m
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A
b
d
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Dep
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p
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6
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1
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n
d
o
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esia
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m
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u
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d
u
lh
aq
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g
m
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c
o
m
1.
I
NT
RO
D
UCT
I
O
N
No
wad
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s
,
th
e
d
ev
elo
p
m
en
t
o
f
co
m
p
u
ter
tech
n
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lo
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y
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n
d
r
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b
o
tics
ar
e
in
cr
ea
s
in
g
ly
a
d
v
an
ce
d
with
p
r
o
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f
o
f
s
o
m
e
p
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o
g
r
ess
.
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e
tan
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le
f
o
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m
o
f
a
d
v
an
ce
s
in
c
o
m
p
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ter
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h
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o
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g
y
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th
e
n
u
m
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er
o
f
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o
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o
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th
at
ar
e
g
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g
s
m
ar
ter
h
as
a
m
in
i
m
al
er
r
o
r
,
f
r
o
m
r
o
b
o
ts
th
at
ca
n
f
ac
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h
u
m
an
wo
r
k
t
o
r
o
b
o
ts
t
h
at
f
u
n
ctio
n
as
en
ter
tain
m
en
t.
T
h
e
n
u
m
b
er
o
f
r
o
b
o
t c
o
m
p
etitio
n
s
also
tr
ig
g
e
r
s
r
o
b
o
t a
ctiv
is
ts
to
alwa
y
s
m
ak
e
u
p
d
ates a
n
d
ad
d
f
ea
tu
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to
th
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r
o
b
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t
s
o
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at
t
h
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r
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b
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t
tech
n
o
l
o
g
y
b
ec
o
m
es
m
o
r
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ad
v
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ce
d
.
So
cc
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is
co
n
s
id
er
ed
o
n
e
o
f
th
e
m
o
s
t
p
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p
u
lar
s
p
o
r
ts
o
f
al
l
tim
e
in
th
e
wo
r
ld
[
1
]
.
B
ec
au
s
e
o
f
its
im
m
en
s
e
p
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ten
tial,
n
o
wad
ay
s
,
au
to
m
atio
n
o
f
s
o
cc
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h
as
b
ee
n
wid
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r
esear
ch
ed
,
esp
ec
ially
in
th
e
r
o
b
o
tic
f
ield
[
1
]
.
T
h
e
R
o
b
o
C
u
p
co
m
p
etitio
n
s
tak
e
p
lace
o
n
ce
a
y
ea
r
a
n
d
th
e
y
ar
e
d
iv
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in
to
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if
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t
leag
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o
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e
o
f
t
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b
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g
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e
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o
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r
leag
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e
.
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ith
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th
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o
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,
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o
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m
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in
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p
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th
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m
id
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s
ize
leag
u
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[2
]
-
[
5
]
.
R
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b
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C
u
p
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s
ize
leag
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ter
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p
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th
at
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m
p
etes
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o
r
s
e
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al
r
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b
o
ts
to
p
lay
s
o
cc
er
f
r
o
m
v
ar
io
u
s
co
u
n
tr
ies.
I
n
I
n
d
o
n
esia,
th
er
e
is
a
s
im
ilar
co
m
p
etitio
n
,
n
am
ely
th
e
I
n
d
o
n
esian
W
h
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R
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b
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So
cc
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C
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test
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wh
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e
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les
ar
e
th
e
s
am
e
a
s
th
e
R
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b
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C
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p
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id
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le
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ize
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g
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to
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co
u
n
t
co
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d
itio
n
s
an
d
d
e
v
elo
p
m
e
n
ts
in
I
n
d
o
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s
u
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as
f
ield
s
ize
an
d
o
th
e
r
f
ac
to
r
s
[
6
]
.
R
o
b
o
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s
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er
is
a
r
o
b
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th
at
is
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esig
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b
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a
b
le
to
p
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s
o
cc
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au
to
n
o
m
o
u
s
ly
[
7
]
.
So
,
th
e
r
o
b
o
ts
ca
n
p
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lik
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a
s
o
cc
er
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am
e
in
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e
n
er
al
,
s
o
cc
er
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b
o
ts
m
u
s
t b
e
eq
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ip
p
e
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with
f
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r
es th
at
ca
n
later
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u
p
p
o
r
t th
e
r
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n
n
in
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o
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th
e
r
o
b
o
t th
en
th
e
r
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b
o
t c
a
n
m
ak
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d
ec
is
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-
m
a
k
in
g
c
o
n
d
it
io
n
s
.
On
e
o
f
th
e
b
asic
f
ea
tu
r
es
th
at
r
o
b
o
ts
m
u
s
t
-
h
av
e
is
r
ea
l
-
tim
e
[8
]
-
[
1
0
]
,
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
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4
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5
2
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci,
Vo
l.
22
,
No
.
3
,
J
u
n
e
2
0
2
1
:
1
3
6
5
-
1
3
7
1
1366
esp
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b
all
d
etec
tio
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n
d
o
b
s
ta
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th
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e
r
r
o
b
o
ts
ar
o
u
n
d
th
em
[
1
1
]
-
[
1
4
]
.
E
R
SO
W
is
a
r
o
b
o
t
team
f
r
o
m
Po
litek
n
ik
E
le
k
tr
o
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ik
a
Neg
er
i
Su
r
ab
ay
a
(
PENS)
th
at
c
o
m
p
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in
th
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I
n
d
o
n
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R
o
b
o
t
So
cc
er
C
o
n
test
W
h
ee
led
[
6
]
,
[
7
]
.
T
h
e
co
n
d
itio
n
s
o
f
th
e
o
b
s
tacle
d
etec
tio
n
s
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h
av
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in
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p
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o
f
1
5
fra
m
e
p
er
s
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o
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d
(
f
p
s
)
an
d
t
h
e
b
all
d
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tio
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s
y
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s
till
h
as
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p
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p
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4
f
p
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wh
ile
th
e
s
p
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d
o
f
th
e
E
R
SO
W
r
o
b
o
t is 2
m
/s
[
7
]
.
C
AM
B
ADA
i
s
th
e
Mid
d
le
Size
L
ea
g
u
e
s
o
cc
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team
o
f
th
e
Un
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s
ity
o
f
Av
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o
,
Po
r
tu
g
al
[
3
]
.
L
o
o
k
i
n
g
at
th
e
C
AM
B
ADA
s
o
cc
er
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o
b
o
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wh
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h
as
a
p
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s
in
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s
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o
f
u
p
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6
0
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p
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all
with
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f
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/s
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3
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e
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all
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s
o
n
th
e
E
R
SOW
r
o
b
o
t
ar
e
s
till
s
lo
w,
an
d
t
h
er
e
ar
e
s
till
m
an
y
f
r
am
es
wh
i
ch
ar
e
n
o
t
u
s
ed
b
u
t
ar
e
s
till
b
ein
g
p
r
o
ce
s
s
ed
s
o
th
e
m
o
v
e
m
en
t o
f
t
h
e
r
o
b
o
t
is
n
o
t
r
ea
l
-
tim
e
b
ec
a
u
s
e
o
f
th
e
s
lo
w
r
ec
ep
tio
n
o
f
o
b
ject
p
o
s
itio
n
d
ata.
T
h
e
r
elate
d
w
o
r
k
s
th
at
h
av
e
b
ee
n
d
o
n
e
s
o
f
a
r
ar
e
as
f
o
llo
ws,
E
R
SO
W
is
a
r
o
b
o
t
t
ea
m
f
r
o
m
Po
litek
n
ik
E
lek
tr
o
n
ik
a
Neg
e
r
i
Su
r
ab
ay
a
(
PENS)
th
at
co
m
p
etes
in
th
e
I
n
d
o
n
esia
r
o
b
o
t
s
o
cc
er
co
n
test
wh
ee
led
[
6
]
,
[
7
]
.
T
h
e
co
n
d
itio
n
s
o
f
th
e
o
b
s
tacle
d
etec
tio
n
s
y
s
tem
h
av
e
a
p
r
o
ce
s
s
in
g
s
p
ee
d
o
f
1
5
f
p
s
an
d
th
e
b
all
d
etec
tio
n
s
y
s
tem
s
till
h
as a
p
r
o
ce
s
s
in
g
s
p
ee
d
o
f
2
4
f
p
s
,
wh
ile
th
e
s
p
ee
d
o
f
t
h
e
E
R
SOW
r
o
b
o
t
is
2
m
/s
[
7
]
.
C
AM
B
ADA
is
th
e
r
o
b
o
cu
p
m
id
d
le
s
ize
leag
u
e
(
MSL
)
s
o
cc
e
r
team
o
f
th
e
Un
iv
e
r
s
ity
o
f
A
v
eir
o
,
Po
r
t
u
g
al
[
3
]
.
L
o
o
k
in
g
at
th
e
C
AM
B
ADA
s
o
cc
er
r
o
b
o
t
wh
ich
h
as
a
p
r
o
c
ess
in
g
s
p
ee
d
o
f
u
p
to
6
0
f
p
s
i
n
d
etec
tin
g
th
e
b
all
with
an
av
e
r
ag
e
r
o
b
o
t
m
o
v
in
g
s
p
ee
d
o
f
3
m
/s
[
3
]
,
th
e
b
all
d
etec
tio
n
s
y
s
tem
co
n
d
itio
n
s
o
n
th
e
E
R
SOW
r
o
b
o
t
ar
e
s
till
f
air
ly
s
lo
w,
an
d
th
er
e
ar
e
s
till
m
an
y
f
r
am
es wh
ich
a
r
e
n
o
t u
s
ed
b
u
t a
r
e
s
till
b
ein
g
p
r
o
ce
s
s
ed
s
o
th
at
th
e
m
o
v
em
en
t
o
f
th
e
r
o
b
o
t is n
o
t r
ea
l
-
tim
e
d
u
e
to
t
h
e
s
lo
w
r
ec
ep
tio
n
o
f
b
all
p
o
s
itio
n
d
ata.
T
h
e
f
o
c
u
s
in
th
is
r
esear
ch
is
in
cr
ea
s
in
g
th
e
s
p
ee
d
o
f
t
h
e
b
all
d
etec
tio
n
p
r
o
ce
s
s
an
d
o
b
s
tacle
d
etec
tio
n
u
s
in
g
an
o
m
n
id
i
r
ec
tio
n
al
ca
m
er
a
b
y
o
p
tim
izin
g
th
e
u
s
e
o
f
th
e
Op
en
C
V
lib
r
ar
y
o
n
r
o
b
o
t
o
p
er
atin
g
s
y
s
tem
(
R
OS
)
an
d
m
in
im
izin
g
th
e
u
s
e
o
f
to
o
m
an
y
f
r
a
m
es
s
o
th
at
p
r
o
ce
s
s
in
g
s
p
ee
d
ca
n
b
e
in
cr
e
ased
.
T
h
is
s
y
s
tem
r
u
n
s
u
s
in
g
th
e
R
OS
s
o
th
at
later
it
will
f
ac
ilit
ate
th
e
d
iv
is
io
n
o
f
wo
r
k
s
y
s
tem
s
cr
ea
ted
p
r
o
g
r
am
s
.
Af
ter
th
at,
th
e
b
all
an
d
o
b
s
tacle
d
ata
o
b
tain
ed
will
b
e
s
en
t
t
o
th
e
b
ase
s
tatio
n
f
o
r
f
u
r
th
e
r
p
r
o
ce
s
s
in
g
.
L
im
itatio
n
s
o
f
t
h
is
s
tu
d
y
in
clu
d
e
th
e
s
en
s
o
r
u
s
ed
in
th
is
s
tu
d
y
is
a
ca
m
er
a
with
an
o
m
n
id
ir
ec
tio
n
al
m
ir
r
o
r
.
T
h
e
s
y
s
tem
u
s
ed
u
s
es
th
e
r
o
b
o
t
o
p
er
atin
g
s
y
s
tem
.
So
m
e
th
in
g
s
th
at
m
ak
e
th
is
s
tu
d
y
d
if
f
er
e
n
t
f
r
o
m
o
th
er
s
tu
d
ies
ar
e
th
at
all
p
r
o
g
r
a
m
s
r
u
n
s
im
u
ltan
eo
u
s
ly
an
d
ar
e
u
s
ed
f
o
r
r
ea
l
-
tim
e
ca
s
es.
T
h
is
p
ap
er
is
o
r
g
an
ized
as
f
o
llo
ws.
Sectio
n
2
d
escr
ib
es
th
e
wh
o
le
p
r
o
p
o
s
ed
s
y
s
tem
s
d
esig
n
.
Sectio
n
3
p
r
esen
ts
th
e
ex
p
er
im
en
tal
r
esu
lts
an
d
d
is
cu
s
s
io
n
.
An
d
f
in
ally
,
t
h
e
co
n
cl
u
s
io
n
an
d
f
u
t
u
r
e
d
ev
el
o
p
m
en
t a
r
e
wr
itten
in
s
ec
tio
n
4
.
2.
RE
S
E
ARCH
M
E
T
H
O
D
I
n
th
is
ch
a
p
ter
,
we
ex
p
lain
th
e
s
y
s
tem
d
esig
n
p
lan
n
in
g
an
d
m
an
u
f
ac
tu
r
in
g
s
y
s
tem
th
at
co
n
s
is
ts
o
f
th
e
s
tag
es
ca
r
r
ied
o
u
t
i
n
th
e
co
m
p
letio
n
o
f
th
is
r
esear
ch
to
ac
h
iev
e
m
a
x
im
u
m
o
b
jectiv
es.
T
h
e
v
is
io
n
s
y
s
tem
cr
ea
ted
o
n
th
e
E
R
SOW
r
o
b
o
t
u
s
es
an
o
m
n
id
ir
ec
tio
n
al
ca
m
er
a.
T
h
is
o
m
n
i
d
ir
ec
tio
n
al
c
am
er
a
is
ca
p
ab
le
o
f
ca
p
tu
r
in
g
im
a
g
es
at
an
an
g
le
o
f
3
6
0
o
ar
o
u
n
d
th
e
ce
n
ter
o
f
th
e
v
er
tical
ax
is
o
f
r
o
tatio
n
with
o
u
t
th
e
n
ee
d
to
m
o
v
e
th
e
ca
m
er
a
o
r
r
o
b
o
t
b
o
d
y
[
3
]
,
[
15
]
-
[
1
7
]
.
T
h
is
ce
r
tain
ly
ca
n
s
p
ee
d
u
p
th
e
o
b
ject
d
etec
tio
n
p
r
o
ce
s
s
wh
en
co
m
p
ar
ed
to
u
s
in
g
co
n
v
en
tio
n
al
ca
m
er
as.
An
o
m
n
i
d
ir
ec
tio
n
al
ca
m
er
a
co
n
s
is
ts
o
f
a
ca
m
er
a
th
at
f
ac
es
t
h
e
m
ir
r
o
r
.
T
h
e
s
h
ap
e
o
f
th
e
m
i
r
r
o
r
will
af
f
ec
t
th
e
im
ag
e
p
r
o
d
u
ce
d
b
y
th
e
ca
m
er
a
[
1
7
]
-
[
1
9
]
.
I
n
th
is
r
esear
ch
,
th
e
ca
m
er
a
s
en
s
o
r
u
s
ed
is
th
e
E
L
P
h
ig
h
-
s
p
ee
d
ca
m
e
r
a
with
a
2
.
8
-
1
2
m
m
len
s
t
h
at
ca
n
p
r
o
d
u
ce
r
eso
lu
tio
n
s
u
p
to
1
9
2
0
x
1
0
8
0
(
6
0
f
p
s
)
an
d
1
2
8
0
x
7
2
0
(
1
2
0
f
p
s
)
.
T
h
is
r
esear
ch
u
s
es
th
e
Op
en
C
V
lib
r
ar
y
to
f
a
cilitate
th
e
wo
r
k
in
g
o
f
v
is
io
n
s
y
s
tem
s
in
th
e
b
all
d
etec
tio
n
an
d
o
b
s
tacle
r
o
b
o
t E
R
SOW
d
etec
tio
n
p
r
o
g
r
am
.
T
h
e
f
r
a
m
e
s
p
r
o
c
es
s
e
d
i
n
t
h
e
E
R
SO
W
v
i
s
i
o
n
s
y
s
t
e
m
a
r
e
q
u
i
te
c
o
m
p
l
e
x
s
o
t
h
a
t
t
h
e
f
r
a
m
es
u
s
e
d
i
n
t
h
e
b
a
l
l
d
e
t
e
c
ti
o
n
p
r
o
g
r
a
m
a
n
d
o
b
s
t
a
cl
e
d
e
t
e
c
ti
o
n
p
r
o
g
r
a
m
a
r
e
q
u
i
t
e
a
l
o
t
.
T
h
e
r
e
f
o
r
e
,
t
h
e
f
r
a
m
e
t
h
a
t
i
s
p
r
o
c
es
s
e
d
m
u
s
t
b
e
i
d
e
a
l
a
n
d
t
h
e
a
r
e
a
o
f
th
e
f
r
a
m
e
t
h
at
is
p
r
o
c
e
s
s
e
d
is
n
o
t
u
s
e
f
u
l
.
E
x
a
m
p
l
es
o
f
u
s
e
l
ess
f
r
a
m
e
s
i
n
t
h
e
i
n
i
ti
al
o
m
n
i
d
i
r
e
c
t
i
o
n
a
l
c
a
m
e
r
a
a
r
e
d
i
s
p
l
a
y
d
a
t
a
o
u
t
s
i
d
e
t
h
e
f
i
e
l
d
.
A
r
ea
s
o
u
t
s
i
d
e
t
h
e
f
i
e
l
d
a
r
e
n
o
t
n
e
ed
e
d
i
n
s
o
c
c
e
r
r
o
b
o
t
m
a
t
c
h
e
s
,
b
e
c
a
u
s
e
t
h
e
r
e
a
r
e
n
o
la
n
d
m
a
r
k
s
o
u
t
s
i
d
e
t
h
e
f
i
e
l
d
,
s
o
d
i
s
p
l
a
y
s
o
u
t
s
i
d
e
t
h
e
f
i
e
l
d
a
r
e
n
o
t
r
e
q
u
i
r
e
d
.
Fig
u
r
e
1
s
h
o
ws
th
e
s
y
s
tem
to
b
e
m
ad
e
as
a
wh
o
le.
T
h
e
r
o
b
o
t
tak
es
p
ictu
r
es
u
s
in
g
an
o
m
n
id
ir
ec
tio
n
al
ca
m
er
a.
T
h
e
m
eth
o
d
o
f
tr
a
ck
i
n
g
th
e
p
o
s
itio
n
o
f
th
e
co
lo
r
e
d
b
al
ls
co
n
s
is
ts
o
f
s
ev
er
al
s
eq
u
e
n
tial
p
r
o
ce
s
s
es
[
6
]
.
B
eg
in
n
in
g
with
ca
p
tu
r
in
g
v
i
d
e
o
with
a
ca
m
er
a
an
d
th
e
o
th
er
p
r
o
ce
s
s
.
T
h
en
th
e
r
o
b
o
t c
an
o
b
s
er
v
e
th
e
im
ag
e
to
r
ec
o
g
n
ize
th
e
b
all
an
d
o
b
s
tacl
e
[
2
0
]
-
[
2
2
]
.
B
y
u
s
in
g
an
im
ag
e
p
u
b
lis
h
er
,
im
ag
es tak
en
f
r
o
m
an
o
m
n
id
i
r
ec
tio
n
al
ca
m
er
a
will
b
e
f
o
r
war
d
ed
to
t
h
e
b
all
n
o
d
e
an
d
o
b
s
tacle
n
o
d
e.
T
o
in
cr
ea
s
e
th
e
s
p
ee
d
o
f
th
e
p
r
o
ce
s
s
th
e
m
o
s
t
im
p
o
r
tan
t
th
in
g
to
d
o
is
to
b
r
e
ak
th
e
p
r
o
g
r
am
s
o
th
at
th
e
p
r
o
ce
s
s
in
g
lo
ad
will
b
e
d
iv
id
ed
[
2
3
]
.
I
n
th
is
r
esear
ch
th
e
p
r
o
g
r
am
is
b
r
o
k
en
d
o
wn
i
n
to
3
n
o
d
es,
th
er
e
ar
e
o
m
n
i_
p
u
b
lis
h
er
,
o
m
n
i_
b
all,
o
m
n
i_
o
b
s
tacle
.
I
n
th
e
b
all
n
o
d
e
,
th
e
f
r
am
e
o
f
th
e
o
m
n
id
i
r
ec
tio
n
al
ca
m
er
a
is
co
n
v
er
ted
to
h
u
e,
s
atu
r
a
tio
n
,
v
alu
e
(
HSV)
co
lo
r
s
p
ac
e.
I
n
th
is
HS
V
im
ag
e,
t
h
e
co
l
o
r
will b
e
d
is
t
in
g
u
is
h
ed
w
h
er
e
t
h
e
o
r
an
g
e
co
lo
r
f
o
r
th
e
b
all
an
d
co
m
p
ar
ed
to
t
h
e
co
n
to
u
r
o
f
th
e
co
lo
r
d
etec
tio
n
r
esu
lts
s
o
th
at
it
is
k
n
o
wn
wh
eth
er
th
e
b
a
ll
is
in
th
e
f
ield
o
r
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2502
-
4
7
5
2
I
mp
r
o
vin
g
th
e
s
p
ee
d
o
f b
a
ll d
e
tectio
n
p
r
o
ce
s
s
a
n
d
o
b
s
ta
cle
d
etec
tio
n
p
r
o
ce
s
s
in
…
(
Mu
h
a
m
ma
d
A
b
d
u
l H
a
q
)
1367
o
u
ts
id
e.
I
n
th
e
o
b
s
tacle
n
o
d
e,
th
e
im
a
g
e
f
r
o
m
th
e
o
m
n
id
ir
e
ctio
n
al
ca
m
er
a
will
also
b
e
c
h
an
g
ed
to
th
e
HSV
co
lo
r
s
p
ac
e.
I
n
th
is
HSV
im
ag
e,
th
e
co
lo
r
o
f
th
e
f
ield
w
ill
b
e
d
etec
ted
an
d
th
e
r
esu
lts
will
b
e
g
iv
e
n
a
co
n
to
u
r
i
n
g
p
r
o
ce
s
s
,
th
u
s
p
r
o
d
u
cin
g
an
o
b
s
tacle
co
lo
r
d
et
ec
tio
n
r
esu
lt
co
n
to
u
r
.
T
h
en
co
m
p
ar
ed
with
th
e
co
n
to
u
r
o
f
t
h
e
co
lo
r
d
etec
tio
n
r
esu
lts
in
th
e
f
ield
s
o
it is
k
n
o
wn
wh
et
h
er
th
e
o
b
s
tacle
is
in
th
e
f
ield
o
r
o
u
ts
id
e.
Fig
u
r
e
1
.
Diag
r
a
m
o
f
th
e
s
y
s
tem
Af
ter
th
e
o
b
ject
is
d
etec
ted
,
th
e
p
ix
el
d
is
tan
ce
d
ata
is
ch
a
n
g
ed
to
th
e
ac
tu
al
d
is
tan
ce
.
T
h
e
ac
tu
al
d
is
tan
ce
is
ad
d
e
d
to
th
e
o
d
o
m
etr
y
v
al
u
e
o
f
t
h
e
r
o
b
o
t
s
o
th
at
th
e
p
o
s
itio
n
o
f
th
e
o
b
ject
ag
ai
n
s
t
th
e
f
ield
ca
n
b
e
k
n
o
wn
.
T
h
e
v
alu
e
o
f
th
e
p
o
s
itio
n
o
f
th
e
o
b
j
ec
t
is
s
en
t
to
th
e
b
ase
s
tatio
n
f
o
r
f
u
r
th
er
p
r
o
ce
s
s
in
g
.
T
h
is
r
esear
ch
is
im
p
lem
en
ted
o
n
th
e
E
R
SOW
r
o
b
o
t
u
s
in
g
th
e
r
o
b
o
t
o
p
er
atin
g
s
y
s
tem
(
R
OS)
.
B
y
im
p
l
em
en
tin
g
th
e
R
OS,
th
e
m
an
ag
e
m
en
t
o
f
p
r
o
g
r
am
s
in
th
e
E
R
SOW
r
o
b
o
t
b
ec
o
m
es
m
o
r
e
o
r
g
an
ized
an
d
ea
s
ier
to
tr
o
u
b
lesh
o
o
tin
g
.
B
ef
o
r
e
th
e
im
p
lem
en
tatio
n
o
f
R
OS,
th
e
b
all
an
d
o
b
s
tacle
d
et
ec
tio
n
p
r
o
g
r
a
m
was
s
till
a
u
n
itar
y
p
r
o
g
r
am
.
Af
ter
th
e
im
p
lem
en
tatio
n
o
f
R
OS,
t
h
e
b
all
d
etec
tio
n
p
r
o
g
r
am
a
n
d
o
b
s
tacle
d
etec
tio
n
p
r
o
g
r
am
b
ec
o
m
e
s
ep
ar
ate
an
d
ca
n
f
ac
ilit
ate
p
r
o
g
r
am
m
a
n
ag
e
m
en
t.
T
h
e
m
u
lti
-
n
o
d
e
R
OS
ca
p
ab
ilit
y
ca
n
co
n
tr
o
l
m
an
y
o
f
th
e
r
o
b
o
t'
s
o
p
er
atio
n
al
f
u
n
ctio
n
s
.
R
o
b
o
ts
th
at
h
av
e
a
la
r
g
e
task
o
f
ca
r
r
y
in
g
o
u
t
m
an
y
f
u
n
ctio
n
s
an
d
s
o
p
h
is
ticated
,
th
e
a
p
p
licatio
n
o
f
tr
a
d
i
tio
n
al
m
eth
o
d
s
will
co
n
s
u
m
e
r
esear
c
h
er
s
'
tim
e
an
d
en
er
g
y
[
2
4
]
,
[
2
5
]
.
W
ith
m
u
lti
-
n
o
d
e,
t
h
e
R
OS
p
r
o
p
er
ty
w
ill
p
r
o
v
id
e
ef
f
icien
t
r
o
b
o
t
f
lo
w
co
n
tr
o
l.
Fu
r
t
h
er
m
o
r
e,
th
e
p
r
o
ce
s
s
o
f
b
u
ild
in
g
r
o
b
o
t
s
o
f
twar
e
d
o
es
n
o
t
tak
e
lo
n
g
b
ec
au
s
e
it
ca
n
b
e
d
o
n
e
as a
team
.
I
n
th
is
s
y
s
tem
,
t
h
r
ee
n
o
d
es
a
r
e
cr
ea
ted
n
am
ely
th
e
p
u
b
lis
h
er
n
o
d
e
,
t
h
e
b
all
n
o
d
e,
a
n
d
th
e
o
b
s
tacle
n
o
d
e.
T
h
e
d
i
v
is
io
n
in
to
3
n
o
d
es
is
in
ten
d
ed
s
o
th
at
th
e
p
r
o
ce
s
s
o
f
th
e
p
r
o
g
r
am
d
o
es
n
o
t
b
u
r
d
en
th
e
co
m
p
u
te
r
an
d
also
th
e
m
em
o
r
y
m
a
n
ag
e
m
en
t
is
ev
en
ly
d
is
tr
ib
u
ted
.
T
h
e
f
u
n
ctio
n
o
f
th
e
p
u
b
lis
h
er
n
o
d
e
is
to
tak
e
p
ictu
r
es
f
r
o
m
a
n
o
m
n
id
ir
ec
tio
n
al
ca
m
e
r
a
with
a
f
r
am
e
s
ize
o
f
1
2
8
0
x
7
2
0
,
t
h
en
th
e
f
r
am
e
s
ize
is
cu
t
s
m
aller
to
6
4
0
x
6
4
0
s
o
th
at
co
m
p
u
te
r
v
is
io
n
p
r
o
ce
s
s
in
g
b
ec
o
m
es
f
aster
b
ec
au
s
e
th
e
f
r
am
e
p
r
o
ce
s
s
ed
is
n
o
t
la
r
g
e.
T
h
e
o
u
tp
u
t
o
f
th
is
n
o
d
e
is
th
e
f
r
am
e
th
at
h
as
b
ee
n
cu
t
to
6
4
0
x
6
4
0
an
d
s
en
t
with
th
e
m
ess
ag
e
p
u
b
lis
h
er
o
n
R
OS.
T
o
in
cr
ea
s
e
th
e
s
p
ee
d
o
f
t
h
e
p
r
o
ce
s
s
o
f
b
al
l
an
d
o
b
s
tacle
d
etec
tio
n
,
th
r
ea
d
in
g
is
o
n
e
wa
y
f
o
r
th
e
p
r
o
g
r
a
m
an
d
its
f
u
n
ctio
n
s
to
r
u
n
at
t
h
e
s
am
e
tim
e
[
2
3
]
.
3.
RE
SU
L
T
S AN
D
AN
AL
Y
SI
S
R
OS
h
as
a
s
er
v
ice
as
well
as
an
o
p
er
atin
g
s
y
s
tem
in
g
en
er
al,
in
cl
u
d
in
g
h
ar
d
war
e
a
b
s
tr
ac
tio
n
,
lo
wer
-
lev
el
d
ev
ice
co
n
tr
o
l,
im
p
lem
en
tatio
n
o
f
co
m
m
o
n
ly
u
s
ed
f
u
n
ctio
n
s
,
d
eliv
er
y
o
f
m
ess
ag
es/d
ata
b
etwe
en
p
r
o
ce
s
s
es,
an
d
m
an
ag
em
en
t
p
ac
k
ag
es.
R
OS
al
s
o
p
r
o
v
id
es
to
o
ls
an
d
lib
r
ar
ies
th
at
en
ab
le
u
s
to
g
et,
b
u
ild
,
p
r
o
g
r
a
m
,
an
d
r
u
n
p
r
o
g
r
am
s
th
r
o
u
g
h
m
u
ltip
le
c
o
m
p
u
ter
s
.
B
y
im
p
lem
en
tin
g
th
e
r
o
b
o
t
o
p
er
atin
g
s
y
s
tem
,
p
r
o
g
r
a
m
m
a
n
ag
em
en
t
in
th
e
E
R
SO
W
r
o
b
o
t
b
ec
o
m
es
m
o
r
e
o
r
g
a
n
ized
a
n
d
ea
s
ier
f
o
r
tr
o
u
b
lesh
o
o
tin
g
.
B
ef
o
r
e
th
e
im
p
lem
en
tatio
n
o
f
R
OS,
th
e
b
all
an
d
o
b
s
tacle
d
etec
tio
n
p
r
o
g
r
am
was
s
till
a
u
n
itar
y
p
r
o
g
r
a
m
.
Af
ter
th
e
im
p
lem
en
tatio
n
o
f
R
OS,
th
e
b
all
d
etec
tio
n
p
r
o
g
r
am
an
d
o
b
s
tacle
d
etec
tio
n
p
r
o
g
r
am
b
ec
o
m
e
s
ep
ar
ate
an
d
ca
n
f
ac
ilit
ate
p
r
o
g
r
am
m
an
ag
e
m
en
t.
T
h
at
is
b
ec
au
s
e
o
f
th
e
p
u
b
lis
h
er
'
s
f
ea
tu
r
es
o
n
R
OS,
th
is
p
u
b
lis
h
er
ca
n
s
en
d
in
itial
f
r
am
e
d
ata
f
r
o
m
th
e
ca
m
er
a
to
m
u
ltip
le
n
o
d
es
.
I
n
th
e
ca
s
e
o
f
th
e
v
is
io
n
p
r
o
g
r
am
in
th
e
E
R
SOW
r
o
b
o
t,
th
er
e
ar
e
3
n
o
d
es
in
clu
d
in
g
th
e
o
m
n
i_
p
u
b
lis
h
er
,
o
m
n
i_
b
all,
an
d
o
m
n
i_
o
b
s
tacle
.
T
h
e
f
u
n
ctio
n
o
f
th
e
o
m
n
i_
p
u
b
lis
h
er
is
to
tak
e
ca
m
er
a
d
ata
in
to
th
e
in
itial
f
r
am
e,
th
en
s
en
d
u
s
in
g
th
e
p
u
b
lis
h
er
to
th
e
o
m
n
i_
b
all
n
o
d
e
an
d
th
e
o
m
n
i_
o
b
s
tacle
n
o
d
e.
T
h
e
o
m
n
i_
b
all
an
d
o
m
n
i_
o
b
s
tacle
n
o
d
es
r
ec
eiv
e
d
ata
u
s
in
g
th
e
s
u
b
s
cr
ib
er
f
ac
ilit
y
p
r
o
v
id
ed
b
y
R
OS
to
r
ec
eiv
e
d
ata
f
r
o
m
th
e
p
u
b
lis
h
er
.
Af
ter
im
p
lem
en
tin
g
R
OS
in
th
e
E
R
SOW
r
o
b
o
t,
th
e
s
p
ee
d
o
f
th
e
b
all
d
etec
tio
n
p
r
o
ce
s
s
in
cr
ea
s
ed
b
y
3
6
f
p
s
,
wh
ile
th
e
p
r
o
ce
s
s
in
g
s
p
ee
d
o
f
th
e
o
b
s
tacle
d
ete
ctio
n
in
cr
ea
s
ed
b
y
4
.
5
f
p
s
.
Fo
r
s
y
s
tem
test
in
g
,
th
e
r
e
ar
e
s
ev
er
al
p
a
r
ts
wh
ich
ar
e:
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4
7
5
2
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci,
Vo
l.
22
,
No
.
3
,
J
u
n
e
2
0
2
1
:
1
3
6
5
-
1
3
7
1
1368
3
.
1
.
T
esting
o
f
ba
ll a
nd
o
bs
t
a
cle
t
ra
c
k
ing
B
ef
o
r
e
we
d
id
th
is
r
esear
ch
,
we
h
ad
r
esear
ch
e
d
b
all
d
etec
t
io
n
u
s
in
g
lo
ca
l
b
in
a
r
y
p
atter
n
(
L
B
P
)
[
7
]
.
Ho
wev
er
,
th
e
o
u
tp
u
t
p
r
o
v
id
ed
is
n
o
t
s
atis
f
ac
to
r
y
,
f
o
r
ex
am
p
l
e,
th
e
FP
S
v
alu
e
o
n
b
all
d
etec
t
io
n
u
s
in
g
t
h
e
L
B
P
m
eth
o
d
p
r
o
d
u
ce
s
ab
o
u
t
2
0
f
p
s
wh
e
n
u
s
ed
f
o
r
a
lo
n
g
ti
m
e.
I
t'
s
d
if
f
er
en
t
wh
en
we
im
p
lem
en
t
th
e
co
lo
r
th
r
esh
o
ld
in
g
m
eth
o
d
,
th
e
v
alu
e
o
f
th
e
s
p
ee
d
o
f
th
e
p
r
o
ce
s
s
ca
n
b
e
in
c
r
ea
s
ed
f
aster
.
W
h
en
co
m
p
ar
ed
to
th
e
s
p
ee
d
o
f
th
e
p
r
o
ce
s
s
,
b
all
d
et
ec
tio
n
u
s
in
g
th
e
c
o
lo
r
th
r
esh
o
ld
in
g
m
eth
o
d
is
f
aster
t
h
an
th
e
L
B
P
m
eth
o
d
.
T
h
e
b
asic
o
b
ject
th
at
m
u
s
t
b
e
d
etec
ted
in
r
o
b
o
t
s
o
cc
er
is
b
all
an
d
o
b
s
tacle
s
.
T
h
e
b
lack
r
o
b
o
t
with
an
o
r
an
g
e
b
all
is
lo
ca
ted
o
n
a
g
r
ee
n
f
ield
with
a
wh
ite
lin
e.
So
,
co
lo
r
s
ar
e
th
e
ea
s
iest
in
s
tr
u
ctio
n
s
to
p
r
o
ce
s
s
f
o
r
s
eg
m
en
tin
g
o
b
jects.
C
o
lo
r
ex
tr
ac
tio
n
is
d
o
n
e
in
HSV
co
lo
r
s
p
ac
e.
3
co
l
o
r
s
m
u
s
t
b
e
d
etec
ted
,
th
er
e
ar
e
o
r
an
g
e
(
b
all)
,
g
r
ee
n
(
f
ield
)
,
an
d
b
lack
(
o
b
s
tacle
)
.
Fig
u
r
e
2
is
a
d
is
p
lay
o
f
th
e
o
b
s
tacle
d
etec
tio
n
p
r
o
g
r
am
,
th
e
in
cr
ea
s
e
in
th
e
s
p
ee
d
o
f
th
is
p
r
o
ce
s
s
d
o
es
n
o
t
af
f
ec
t
th
e
o
b
s
tacle
d
etec
tio
n
r
esu
lts
.
So
th
at
it
d
o
es
n
o
t
co
n
f
u
s
e
th
e
o
b
s
tacle
d
etec
tio
n
r
esu
lts
o
f
th
e
E
R
SO
W
r
o
b
o
t
s
y
s
tem
.
T
h
e
s
eg
m
en
tatio
n
p
r
o
ce
s
s
in
HSV
c
o
lo
r
s
p
ac
e
is
d
o
n
e
th
r
o
u
g
h
th
e
co
lo
r
th
r
esh
o
l
d
o
f
ea
ch
o
b
ject.
I
n
th
e
E
R
SOW
v
is
io
n
s
y
s
tem
,
th
e
m
eth
o
d
u
s
ed
to
d
etec
t
th
e
b
all
is
t
o
u
s
e
co
lo
r
th
r
esh
o
l
d
in
g
.
T
h
e
p
r
o
g
r
am
d
etec
ts
th
e
c
o
lo
r
o
r
an
g
e,
th
e
n
th
e
d
etec
tio
n
r
esu
lts
ar
e
co
m
p
a
r
ed
with
th
e
r
e
s
u
lts
o
f
th
r
esh
o
ld
in
g
th
e
f
ield
,
wh
eth
er
th
e
b
all
is
o
n
th
e
f
ield
o
r
n
o
t.
Fo
r
o
b
s
tacle
d
etec
tio
n
p
r
o
g
r
a
m
s
,
th
er
e
is
o
n
ly
1
co
lo
r
r
eq
u
ir
ed
f
o
r
ca
lib
r
atio
n
,
n
am
e
ly
g
r
ee
n
(
f
ield
)
.
T
h
e
s
eg
m
e
n
t
atio
n
p
r
o
ce
s
s
in
th
e
r
o
s
c
o
lo
r
s
p
ac
e
is
ca
r
r
ied
o
u
t
th
r
o
u
g
h
a
g
r
ee
n
th
r
esh
o
ld
.
Fig
u
r
e
3
is
a
d
is
p
lay
o
f
th
e
b
a
ll
d
etec
tio
n
p
r
o
g
r
am
,
th
e
in
cr
e
ase
in
th
e
s
p
ee
d
o
f
t
h
is
p
r
o
ce
s
s
d
o
es
n
o
t
af
f
ec
t th
e
b
all
d
etec
tio
n
r
esu
lt
s
.
So
as n
o
t to
co
n
f
u
s
e
th
e
b
all
d
etec
tio
n
r
esu
lts
f
r
o
m
th
e
E
R
SOW
r
o
b
o
t sy
s
tem
.
I
n
th
e
p
r
o
ce
s
s
o
f
d
etec
tin
g
th
e
b
all,
it
is
ch
ec
k
ed
o
n
th
e
n
i
n
e
f
ield
p
o
in
ts
ar
o
u
n
d
t
h
e
b
al
l.
T
h
ese
p
o
in
ts
ar
e
o
b
tain
ed
f
r
o
m
th
e
s
p
h
e
r
ical
co
o
r
d
in
ates d
etec
ted
.
Dete
ctio
n
i
s
in
ten
d
ed
to
f
in
d
o
u
t w
h
eth
er
th
e
o
b
ject
is
r
ea
lly
in
th
e
f
ield
o
r
n
o
t.
I
n
th
e
o
b
s
tacle
d
etec
tio
n
p
r
o
g
r
am
,
o
n
l
y
f
ield
co
lo
r
s
,
n
am
ely
g
r
ee
n
,
ar
e
u
s
ed
to
ca
lib
r
ate,
th
u
s
s
av
in
g
f
r
a
m
e
u
s
ag
e
a
n
d
c
an
in
cr
ea
s
e
th
e
s
p
ee
d
o
f
th
e
o
b
s
tacle
d
etec
tio
n
p
r
o
ce
s
s
.
T
h
e
m
eth
o
d
u
s
ed
is
th
e
co
lo
r
th
r
esh
o
ld
i
n
g
b
y
tak
in
g
th
e
co
n
to
u
r
f
r
o
m
g
r
ee
n
,
th
en
th
e
b
in
ar
y
r
esu
lts
f
r
o
m
th
e
g
r
ee
n
co
lo
r
ar
e
in
v
er
s
e
d
u
s
in
g
th
e
b
itwis
e
f
u
n
ctio
n
in
t
h
e
Op
en
C
V
lib
r
ar
y
.
T
h
e
r
esu
lt
is
th
at
co
lo
r
s
o
th
er
t
h
an
g
r
ee
n
will
tu
r
n
wh
ite
s
o
th
at
o
b
s
tacle
s
in
th
e
f
ield
th
at
d
o
n
'
t
h
av
e
g
r
e
en
will
b
e
d
etec
t
ed
as
o
b
s
tacle
s
.
T
h
e
o
b
s
tacle
is
also
co
m
p
ar
ed
t
o
th
e
r
esu
lt o
f
th
e
f
ield
th
r
esh
o
ld
its
elf
s
o
th
at
th
e
r
o
b
o
t k
n
o
w
s
it o
n
ly
d
etec
ts
o
b
s
tacle
s
in
th
e
f
ield
ar
ea
.
F
i
g
u
r
e
2
.
O
b
s
t
a
c
l
es
d
e
t
ec
t
i
o
n
p
r
o
g
r
a
m
o
f
E
R
S
OW
r
o
b
o
t
Fig
u
r
e
3
.
B
all
d
etec
tio
n
p
r
o
g
r
am
o
f
E
R
SOW
r
o
b
o
t
3
.
2
.
T
esting
o
f
ba
ll det
ec
t
io
n
’
s
a
nd
o
bs
t
a
cle
det
ec
t
io
n’s
s
peed
pro
ce
s
s
T
im
e
ex
ec
u
tio
n
ta
k
in
g
o
f
s
o
m
e
p
r
o
g
r
am
s
is
d
e
p
en
d
in
g
o
n
th
e
alg
o
r
ith
m
o
f
th
e
p
r
o
g
r
am
an
d
s
tatem
en
t tim
e
tak
e
[
2
6
]
.
At
th
is
s
tag
e,
it is
te
s
tin
g
th
e
s
y
s
tem
af
ter
o
p
tim
izin
g
th
e
s
p
ee
d
o
f
th
e
p
r
o
ce
s
s
f
o
r
th
e
b
all
d
etec
tio
n
p
r
o
g
r
am
as
well
as
th
e
o
b
s
tacle
d
etec
tio
n
p
r
o
g
r
am
.
T
h
e
f
o
llo
win
g
is
a
g
r
ap
h
o
f
in
cr
ea
s
in
g
th
e
s
p
ee
d
o
f
ea
c
h
p
r
o
g
r
am
.
T
h
e
g
r
ap
h
in
F
ig
u
r
e
4
s
h
o
ws
th
e
ef
f
ec
ts
o
f
t
h
e
R
OS
im
p
le
m
en
tatio
n
p
r
o
ce
s
s
,
th
e
u
s
e
o
f
R
eg
io
n
o
f
I
n
ter
est,
an
d
also
th
e
o
p
tim
iza
tio
n
o
f
f
r
am
e
u
s
ag
e.
I
n
th
e
im
p
lem
en
tatio
n
o
f
R
OS,
an
in
cr
ea
s
e
in
th
e
s
p
ee
d
o
f
6
f
p
s
was
o
b
tain
ed
,
f
o
r
th
e
u
s
e
o
f
r
eg
io
n
o
f
in
ter
est
(
R
OI
)
,
an
in
cr
ea
s
e
in
th
e
s
p
ee
d
o
f
th
e
b
all
d
etec
tio
n
p
r
o
ce
s
s
was
1
3
.
4
f
p
s
,
wh
ile
to
o
p
tim
ize
th
e
u
s
e
o
f
th
e
f
r
a
m
e
an
in
cr
ea
s
e
in
th
e
s
p
ee
d
o
f
th
e
b
all
d
etec
tio
n
p
r
o
ce
s
s
was 1
6
.
6
f
p
s
.
T
h
e
g
r
ap
h
in
F
ig
u
r
e
5
s
h
o
ws
th
e
ef
f
ec
ts
o
f
th
e
R
OS
im
p
le
m
en
tatio
n
p
r
o
ce
s
s
,
th
e
u
s
e
o
f
r
eg
io
n
o
f
in
ter
est
,
b
in
ar
y
in
v
er
s
io
n
,
an
d
also
th
e
o
p
tim
izatio
n
o
f
f
r
am
e
u
s
ag
e.
I
n
th
e
im
p
lem
en
tatio
n
o
f
R
OS,
an
in
cr
ea
s
e
in
th
e
s
p
ee
d
o
f
2
f
p
s
was
o
b
tain
ed
,
f
o
r
th
e
u
s
e
o
f
R
OI
,
an
in
c
r
ea
s
e
in
th
e
s
p
e
ed
o
f
th
e
o
b
s
tacle
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2502
-
4
7
5
2
I
mp
r
o
vin
g
th
e
s
p
ee
d
o
f b
a
ll d
e
tectio
n
p
r
o
ce
s
s
a
n
d
o
b
s
ta
cle
d
etec
tio
n
p
r
o
ce
s
s
in
…
(
Mu
h
a
m
ma
d
A
b
d
u
l H
a
q
)
1369
d
etec
tio
n
p
r
o
ce
s
s
was
7
.
8
f
p
s
.
Fo
r
t
h
e
ef
f
ec
t
o
f
b
in
ar
y
in
v
e
r
s
e
u
s
in
g
b
itwis
e
o
b
tain
ed
an
in
cr
ea
s
e
in
th
e
s
p
ee
d
o
f
th
e
o
b
s
tacle
d
etec
tio
n
p
r
o
ce
s
s
b
y
7
.
6
f
p
s
wh
ile
f
o
r
th
e
o
p
tim
izatio
n
o
f
t
h
e
u
s
e
o
f
f
r
am
es
o
b
tain
ed
an
in
cr
ea
s
e
in
th
e
s
p
ee
d
o
f
th
e
o
b
s
tacle
d
etec
tio
n
p
r
o
ce
s
s
b
y
1
2
.
6
f
p
s
.
Fig
u
r
e
4
.
T
h
e
g
r
a
p
h
o
f
in
cr
ea
s
in
g
s
p
ee
d
p
r
o
ce
s
s
o
f
b
all
d
etec
tio
n
in
m
illi
s
ec
o
n
d
s
F
ig
u
r
e
5
.
T
h
e
g
r
a
p
h
o
f
in
cr
ea
s
in
g
s
p
ee
d
p
r
o
ce
s
s
o
f
o
b
s
tacle
d
etec
tio
n
in
m
illi
s
ec
o
n
d
s
Fig
u
r
e
6
s
h
o
ws
th
e
d
if
f
er
en
ce
in
p
r
o
ce
s
s
s
p
ee
d
in
b
all
d
etec
tio
n
b
etwe
en
b
e
f
o
r
e
an
d
af
ter
th
e
r
esear
ch
,
f
o
r
th
e
s
tab
ilit
y
o
f
th
e
p
r
o
c
ess
in
g
s
p
ee
d
o
b
tain
e
d
in
th
e
b
all
d
etec
tio
n
p
r
o
g
r
am
,
wh
ich
is
s
tab
le
b
etwe
en
th
e
v
alu
es
o
f
5
8
an
d
5
7
f
p
s
.
So
th
at
th
e
s
p
ee
d
o
f
t
h
e
b
all
d
etec
tio
n
p
r
o
ce
s
s
ca
n
b
e
s
aid
to
b
e
s
tab
le
with
a
v
alu
e
o
f
ar
o
u
n
d
5
8
f
p
s
.
Af
ter
th
at,
th
er
e
is
also
a
g
r
ap
h
o
f
th
e
p
r
o
ce
s
s
im
p
r
o
v
em
e
n
t
f
r
o
m
th
e
o
b
s
tacle
d
etec
tio
n
p
r
o
g
r
am
o
n
t
h
e
E
R
SOW
r
o
b
o
t.
Fig
u
r
e
7
s
h
o
ws
th
e
d
i
f
f
er
en
ce
in
p
r
o
ce
s
s
in
g
s
p
ee
d
in
o
b
s
tacl
e
d
etec
tio
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ased
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ase
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RE
F
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[1
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N.
F
it
ria
n
a
,
K.
M
u
ti
jars
a
,
a
n
d
W
.
Ad
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Co
l
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2
0
1
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I
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ter
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a
ti
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Co
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In
fo
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T
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In
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(ICI
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,
p
p
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2
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6
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.
[2
]
A.
J.
R.
Ne
v
e
s,
A.
Tri
fa
n
,
P
.
Dia
s
,
a
n
d
J.
L.
Az
e
v
e
d
o
,
“
De
tec
ti
o
n
o
f
Ae
rial
Ba
ll
s in
Ro
b
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c
S
o
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Us
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ix
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u
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Co
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a
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De
p
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2
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1
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IEE
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In
ter
n
a
ti
o
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C
o
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fer
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Co
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p
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2
2
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C
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2
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1
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[3
]
R.
Dia
s
,
e
t
a
l
.
,
“
CAMBADA
’2
0
1
6
:
Tea
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De
sc
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P
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R
o
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Cu
p
2
0
1
6
M
id
d
le S
ize
L
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a
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,
2
0
1
6
.
[4
]
F
.
M
.
W.
Ka
n
ters
,
e
t
a
l
.
,
“
Tec
h
u
n
it
e
d
e
in
d
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tea
m
d
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sc
rip
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2
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Cu
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2
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M
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S
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L
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2
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1
.
[5
]
U.
P
.
Ka
p
p
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ler
,
e
t
a
l
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,
“
RF
C
S
tu
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Tea
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,
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Ro
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2
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2
0
1
1
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[6
]
M
.
A.
Ha
q
,
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.
,
“
T
h
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De
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Ro
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(ERS
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2
0
1
9
,
”
T
h
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ti
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2
0
1
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2
0
1
9
.
[7
]
I.
K.
Wi
b
o
wo
,
M
.
A.
Ha
q
,
M
.
M
.
Ba
c
h
ti
a
r,
B.
S
.
B.
De
wa
n
tara
,
a
n
d
F
.
L.
H
.
I
h
sa
n
,
“
Ba
ll
De
tec
ti
o
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u
si
n
g
L
o
c
a
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Bin
a
ry
P
a
tt
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M
id
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S
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b
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(ERS
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2
0
1
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2
n
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n
ter
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a
t
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C
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n
fer
e
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Co
mp
u
ter
a
n
d
In
fo
rm
a
t
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En
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in
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g
(IC2
I
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,
p
p
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2
9
-
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[8
]
J.
M
ich
e
ls
,
A
.
S
a
x
e
n
a
,
a
n
d
A.
Ng
,
“
Hig
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sp
e
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d
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sta
c
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a
v
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a
n
c
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u
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2
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]
S.
Le
n
se
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M
.
Ve
l
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so
.
“
Visu
a
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so
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a
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in
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s
2
0
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3
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J
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n
ter
n
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In
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R
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J.
M
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“
Re
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In
ter
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n
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l
Co
n
fer
e
n
c
e
o
n
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telli
g
e
n
t
R
o
b
o
t
s
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n
d
S
y
ste
ms
,
2
0
0
1
,
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p
.
3
1
-
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6
,
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o
i:
1
0
.
1
1
0
9
/IR
OS.
2
0
0
1
.
9
7
3
3
3
2
.
[1
1
]
R.
Dia
s,
N.
Lau
,
J.
S
il
v
a
,
a
n
d
G
.
H.
Li
m
,
“
M
u
lt
i
-
o
b
jec
t
trac
k
in
g
with
d
istri
b
u
ted
se
n
si
n
g
,
”
2
0
1
6
IE
E
E
In
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
M
u
lt
ise
n
s
o
r
F
u
sio
n
a
n
d
In
teg
r
a
ti
o
n
fo
r
I
n
t
e
ll
ig
e
n
t
S
y
ste
ms
(M
FI)
,
p
p
.
5
6
4
-
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6
9
,
2
0
1
6
,
d
o
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0
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0
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F
I.
2
0
1
6
.
7
8
4
9
5
4
8
.
[1
2
]
A.
Ah
m
a
d
a
n
d
P
.
Li
m
a
,
“
M
u
lt
i
-
r
o
b
o
t
c
o
o
p
e
ra
ti
v
e
sp
h
e
rica
l
-
o
b
jec
t
trac
k
in
g
in
3
D
sp
a
c
e
b
a
se
d
o
n
p
a
rti
c
le
fil
ters
,
”
Ro
b
.
Au
to
n
.
S
y
st.
,
v
o
l.
6
1
,
n
o
.
1
0
,
p
p
.
1
0
8
4
-
1
0
9
3
,
2
0
1
3
,
d
o
i:
1
0
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1
0
1
6
/j
.
r
o
b
o
t.
2
0
1
2
.
1
2
.
0
0
8
.
[1
3
]
J.
S
il
v
a
,
N.
Lau
,
A.
J.
R
.
Ne
v
e
s,
J
.
Ro
d
ri
g
u
e
s,
a
n
d
J.
L.
Az
e
v
e
d
o
,
“
Ob
sta
c
le
d
e
tec
ti
o
n
,
id
e
n
t
ifi
c
a
ti
o
n
a
n
d
s
h
a
rin
g
o
n
a
ro
b
o
ti
c
s
o
c
c
e
r
tea
m
,
”
Pro
g
re
ss
in
Arti
fi
c
ia
l
In
tell
ig
e
n
c
e
,
Be
rli
n
,
He
id
e
lb
e
rg
:
S
p
ri
n
g
e
r
Be
rli
n
He
id
e
lb
e
rg
,
p
p
.
3
5
0
-
360
,
2
0
0
9
,
d
o
i:
1
0
.
1
0
0
7
/
9
7
8
-
3
-
6
4
2
-
0
4
6
8
6
-
5
_
2
9
.
[1
4
]
M
.
Ja
m
z
a
d
,
“
Ob
jec
t
d
e
tec
ti
o
n
a
n
d
l
o
c
a
li
z
a
ti
o
n
u
sin
g
o
m
n
id
irec
ti
o
n
a
l
v
isio
n
in
t
h
e
Ro
b
o
C
u
p
e
n
v
iro
n
m
e
n
t,
”
S
c
i.
ira
n
.
,
v
o
l.
1
4
,
n
o
.
6
,
2
0
0
7
.
[1
5
]
B.
Cu
n
h
a
,
J.
Az
e
v
e
d
o
,
N.
Lau
,
a
n
d
L.
Alm
e
id
a
,
“
Ob
tain
i
n
g
th
e
in
v
e
rse
d
istan
c
e
m
a
p
fr
o
m
a
n
o
n
-
S
VP
h
y
p
e
rb
o
li
c
c
a
tad
io
p
tri
c
ro
b
o
t
ic
v
isio
n
sy
ste
m
,
”
Ro
b
o
C
u
p
2
0
0
7
:
Ro
b
o
t
S
o
c
c
e
r
W
o
rld
Cu
p
XI,
Ber
li
n
,
2
0
0
8
,
p
p
.
4
1
7
-
4
2
4
,
d
o
i
:
1
0
.
1
0
0
7
/
9
7
8
-
3
-
540
-
6
8
8
4
7
-
1
_
4
3
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2502
-
4
7
5
2
I
mp
r
o
vin
g
th
e
s
p
ee
d
o
f b
a
ll d
e
tectio
n
p
r
o
ce
s
s
a
n
d
o
b
s
ta
cle
d
etec
tio
n
p
r
o
ce
s
s
in
…
(
Mu
h
a
m
ma
d
A
b
d
u
l H
a
q
)
1371
[1
6
]
S
.
Lan
g
e
,
A.
V
o
ig
t
län
d
e
r,
M
.
A.
Ried
m
il
ler,
a
n
d
M
.
Lau
e
r,
“
Re
a
l
-
ti
m
e
3
D
b
a
ll
re
c
o
g
n
i
ti
o
n
u
sin
g
p
e
rsp
e
c
ti
v
e
a
n
d
c
a
tad
io
p
tri
c
c
a
m
e
ra
s,”
EM
CR
,
2
0
0
7
.
[1
7
]
B.
D.
Lu
c
a
s
a
n
d
T.
Ka
n
a
d
e
,
“
An
it
e
ra
ti
v
e
ima
g
e
re
g
istratio
n
t
e
c
h
n
iq
u
e
with
a
n
a
p
p
li
c
a
ti
o
n
to
ste
re
o
v
isio
n
,
”
Pro
c
e
e
d
in
g
s
o
f
t
h
e
7
th
i
n
ter
n
a
ti
o
n
a
l
jo
i
n
t
c
o
n
fer
e
n
c
e
o
n
Arti
fi
c
i
a
l
i
n
telli
g
e
n
c
e
,
”
v
o
l
.
2
,
p
p
.
6
7
4
-
6
7
9
,
1
9
8
1
.
[1
8
]
A.
Ah
m
a
d
,
J.
Xa
v
ier,
J.
S
a
n
to
s
-
Vic
to
r,
a
n
d
P
.
Li
m
a
,
“
3
D
to
2
D
b
ij
e
c
ti
o
n
f
o
r
s
p
h
e
rica
l
o
b
jec
ts
u
n
d
e
r
e
q
u
id
ista
n
t
fi
sh
e
y
e
p
r
o
jec
ti
o
n
,
”
Co
m
p
u
t.
Vi
s.
Ima
g
e
Un
d
e
rs
t.
,
v
o
l.
1
2
5
,
p
p
.
1
7
2
-
1
8
3
,
2
0
1
4
,
d
o
i:
1
0
.
1
0
1
6
/
j.
c
v
i
u
.
2
0
1
4
.
0
4
.
0
0
4
.
[1
9
]
A.
Ne
v
e
s,
A.
P
in
h
o
,
a
n
d
D.
M
a
rt
in
s,
“
A
h
y
b
ri
d
v
isi
o
n
sy
ste
m
fo
r
so
c
c
e
r
ro
b
o
ts
u
sin
g
ra
d
ial
se
a
rc
h
li
n
e
s,”
Pro
c
.
o
f
th
e
8
th
Co
n
fer
e
n
c
e
o
n
A
u
t
o
n
o
mo
u
s
R
o
b
o
t
S
y
ste
ms
a
n
d
Co
mp
e
ti
t
io
n
s
P
o
rtu
g
u
e
se
R
o
b
o
ti
c
s
Op
e
n
-
RO
BOT
ICA’2
0
0
8
,
2
0
0
8
,
p
p
.
5
1
-
5
5
6
.
[2
0
]
A.
Ra
h
m
a
n
a
n
d
N.
S
.
Wi
d
o
d
o
,
“
Co
lo
re
d
b
a
ll
p
o
siti
o
n
trac
k
in
g
m
e
th
o
d
fo
r
g
o
a
lk
e
e
p
e
r
h
u
m
a
n
o
i
d
r
o
b
o
t
s
o
c
c
e
r,
”
T
EL
KOM
NIKA
T
e
lec
o
mm
u
n
ic
a
t
io
n
Co
mp
u
ti
n
g
El
e
c
tro
n
ics
a
n
d
Co
n
tro
l
,
v
o
l.
1
1
,
n
o
.
1
,
p
p
.
1
1
-
16
,
2
0
1
3
,
d
o
i:
1
0
.
1
2
9
2
8
/
telk
o
m
n
ik
a
.
v
1
1
i1
.
8
7
7
.
[2
1
]
A.
K.
M
u
ly
a
,
F
.
Ard
i
ll
a
,
a
n
d
D.
P
ra
m
a
d
ih
a
n
to
,
“
Ba
ll
trac
k
in
g
a
n
d
g
o
a
l
d
e
tec
ti
o
n
f
o
r
m
id
d
le
siz
e
so
c
c
e
r
ro
b
o
t
u
sin
g
o
m
n
id
irec
ti
o
n
a
l
c
a
m
e
ra
,
”
in
2
0
1
6
In
ter
n
a
ti
o
n
a
l
El
e
c
tro
n
ics
S
y
mp
o
siu
m
(I
ES
)
,
p
p
.
4
3
2
-
4
3
7
,
2
0
1
6
,
d
o
i:
1
0
.
1
1
0
9
/E
L
ECS
YM.
2
0
1
6
.
7
8
6
1
0
4
5
.
[2
2
]
D.
S
c
a
ra
m
u
z
z
a
,
S
.
P
a
g
n
o
tt
e
ll
i,
a
n
d
P
.
Va
li
g
i,
“
Ba
ll
d
e
tec
t
io
n
a
n
d
p
re
d
ictiv
e
b
a
ll
fo
ll
o
win
g
b
a
se
d
o
n
a
ste
re
o
sc
o
p
ic
v
isio
n
sy
ste
m
,
”
Pr
o
c
e
e
d
in
g
s
o
f
th
e
2
0
0
5
IEE
E
In
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
Ro
b
o
ti
c
s
a
n
d
A
u
to
m
a
ti
o
n
,
p
p
.
1
5
6
1
-
1
5
6
6
,
2
0
0
6
,
d
o
i:
1
0
.
1
1
0
9
/ROBOT.
2
0
0
5
.
1
5
7
0
3
3
6
.
[2
3
]
A.
K.
Da
s,
R
.
F
ierr
o
,
V
.
Ku
m
a
r,
B.
S
o
u
th
a
ll
,
J.
S
p
letz
e
r,
a
n
d
C.
J.
Tay
l
o
r,
“
Re
a
l
-
ti
m
e
v
isio
n
-
b
a
se
d
c
o
n
tro
l
o
f
a
n
o
n
h
o
lo
n
o
m
ic
m
o
b
il
e
r
o
b
o
t,
”
Pro
c
e
e
d
in
g
s
2
0
0
1
ICRA
.
IEE
E
In
ter
n
a
ti
o
n
a
l
C
o
n
fer
e
n
c
e
o
n
Ro
b
o
ti
c
s
a
n
d
Au
to
m
a
ti
o
n
(Ca
t.
No
.
0
1
CH3
7
1
6
4
),
2
0
0
2
,
d
o
i:
1
0
.
1
1
0
9
/ROBOT.
2
0
0
1
.
9
3
2
8
5
8
.
[2
4
]
O’K
a
n
e
,
Ja
so
n
M
,
“
A G
e
n
tl
e
In
tr
o
d
u
c
t
io
n
to
ROS
,”
Co
lu
mb
ia
:
U
n
ive
rs
it
y
o
f
S
o
u
t
h
Ca
r
o
li
n
a
,
2
0
1
8
.
[2
5
]
A.
M
a
h
tan
i,
L.
S
a
n
c
h
e
z
,
E.
F
e
rn
a
n
d
e
z
,
a
n
d
A.
M
a
rti
n
e
z
,
“
Eff
e
c
ti
v
e
ro
b
o
ti
c
s
p
r
o
g
ra
m
m
in
g
wit
h
ROS
-
th
ird
e
d
it
i
o
n
,
”
3
rd
e
d
.
Birmin
g
h
a
m
,
E
n
g
la
n
d
:
P
a
c
k
t
Pu
b
li
sh
i
n
g
,
2
0
1
6
.
[2
6
]
Z.
S
.
Al
-
Ha
sh
a
m
i,
“
Ex
e
c
u
ti
o
n
o
f
C+
+
P
ro
g
ra
m
s
in
S
h
o
r
tes
t
P
o
ss
ib
le
T
ime
(Na
n
o
se
c
o
n
d
s
o
r
M
il
ise
c
o
n
d
s),”
In
ter
n
a
t
io
n
a
l
J
o
u
rn
a
l
o
f
T
e
c
h
n
o
lo
g
y
En
h
a
n
c
e
me
n
ts a
n
d
Eme
rg
i
n
g
En
g
i
n
e
e
rin
g
Res
e
a
rc
h
,
v
o
l
2
,
n
o
.
5
,
2
0
1
6
.
B
I
O
G
RAP
H
I
E
S O
F
AUTH
O
RS
Mu
h
a
m
m
a
d
Abd
u
l
H
a
q
,
S
.
Tr
.
T
,
c
o
m
p
lete
d
h
is
u
n
d
e
rg
ra
d
u
a
te
d
e
g
re
e
in
C
o
m
p
u
ter
En
g
i
n
e
e
rin
g
fro
m
El
e
c
tro
n
ic
En
g
in
e
e
rin
g
P
o
ly
tec
h
n
ic
In
st
it
u
te
o
f
S
u
ra
b
a
y
a
,
In
d
o
n
e
sia
,
in
2
0
2
0
.
Cu
rre
n
tl
y
,
He
is
m
a
ste
r
s
tu
d
e
n
t
o
f
th
e
El
e
c
tri
c
a
l
E
n
g
i
n
e
e
rin
g
a
n
d
C
o
m
p
u
ter
S
c
ien
c
e
Are
a
a
t
To
k
y
o
M
e
tr
o
p
o
li
tan
Un
i
v
e
rsity
.
His
re
se
a
rc
h
is
o
ften
re
l
a
ted
to
c
o
m
p
u
ter
v
isio
n
a
n
d
m
a
c
h
in
e
lea
rn
in
g
.
He
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a
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.
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