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s
o
i
m
p
o
r
tan
t f
o
r
a
u
to
n
o
m
o
u
s
r
o
b
o
ts
in
g
en
er
al
[
5
,
6
]
.
C
u
r
r
en
tl
y
a
cr
u
cial
ele
m
en
t in
th
e
d
esi
g
n
o
f
th
is
t
y
p
e
o
f
s
y
s
te
m
s
ar
e
t
h
e
ac
ti
v
e
r
o
b
o
tic
s
en
s
o
r
s
,
w
h
ic
h
h
av
e
b
ec
o
m
e
h
i
g
h
p
er
f
o
r
m
a
n
c
e
to
o
ls
ca
p
ab
le
o
f
co
n
s
id
er
ab
ly
r
ed
u
cin
g
t
h
e
p
r
o
ce
s
s
in
g
r
eq
u
ir
e
m
en
ts
o
f
t
h
e
r
o
b
o
t
co
n
tr
o
l
u
n
it.
T
h
ese
s
y
s
te
m
s
h
av
e
g
ain
ed
g
r
ea
t
co
m
m
er
cial
r
ec
o
g
n
itio
n
,
ev
e
n
at
t
h
e
m
ilit
ar
y
le
v
el,
t
h
an
k
s
to
th
eir
e
m
b
ed
d
ed
s
tr
u
ct
u
r
e
th
a
t
,
to
g
eth
er
w
it
h
s
e
n
s
o
r
s
t
h
at
o
b
s
er
v
e
p
h
y
s
ical
v
ar
iab
le
s
d
ir
ec
tl
y
,
p
r
o
ce
s
s
th
i
s
in
f
o
r
m
atio
n
i
n
r
ea
l
ti
m
e
to
ex
tr
ac
t
r
elev
a
n
t
in
f
o
r
m
a
tio
n
f
o
r
th
e
r
o
b
o
t.
T
h
is
k
in
d
o
f
s
e
n
s
o
r
s
h
as
p
r
o
m
o
ted
r
esear
ch
in
in
f
o
r
m
at
io
n
-
d
r
iv
en
s
tr
ate
g
ies
f
o
r
th
e
d
e
v
elo
p
m
e
n
t
o
f
tas
k
s
w
it
h
r
o
b
o
ts
,
as
w
ell
a
s
th
e
i
m
p
le
m
e
n
tatio
n
o
f
alg
o
r
it
h
m
s
f
o
r
d
ig
ita
l
s
i
g
n
al
p
r
o
ce
s
s
in
g
an
d
co
n
tr
o
l
s
c
h
e
m
e
s
o
r
ien
te
d
to
th
ese
s
en
s
o
r
[
4
]
.
As
m
i
n
i
m
u
m
r
eq
u
ir
e
m
en
ts
,
t
h
e
r
o
b
o
t
m
u
s
t
b
e
ab
le
to
d
ef
in
e
its
d
is
ta
n
ce
an
d
s
ize.
I
n
o
th
er
ca
s
es,
it
is
also
n
ec
es
s
ar
y
to
k
n
o
w
it
s
h
e
ig
h
t
to
d
ef
in
e
i
n
ter
ac
tio
n
s
tr
ate
g
ie
s
(
p
ick
u
p
a
n
o
b
j
e
ct
f
r
o
m
a
t
ab
le,
f
o
r
ex
a
m
p
le)
.
Dep
en
d
in
g
o
n
t
h
e
ap
p
licatio
n
it
is
p
o
s
s
ib
le
to
u
s
e
d
i
f
f
er
en
t
k
in
d
s
o
f
s
e
n
s
o
r
s
,
i
n
in
ter
ac
tio
n
w
it
h
h
u
m
a
n
en
v
ir
o
n
m
e
n
t
s
ar
e
v
er
y
i
m
p
o
r
t
an
t
o
p
tical
s
en
s
o
r
s
[
4
,
6
,
7
]
,
h
o
w
e
v
er
,
w
h
en
t
h
e
p
er
s
o
n
h
as
b
ee
n
id
en
tifie
d
,
an
d
th
e
g
o
al
i
s
to
m
a
k
e
a
b
asic tr
ac
k
in
g
o
f
h
i
m
,
th
e
m
o
s
t i
m
p
o
r
tan
t se
n
s
o
r
s
ar
e
th
e
d
is
ta
n
ce
s
e
n
s
o
r
s
[
8
,
9
,
1
0
]
.
T
h
e
ca
m
er
a
-
s
u
p
p
o
r
ted
o
p
tical
s
en
s
o
r
s
i
n
r
o
b
o
tics
h
av
e
b
ee
n
w
id
el
y
u
s
ed
to
s
o
lv
e
t
h
e
p
r
o
b
lem
o
f
id
en
ti
f
y
i
n
g
a
n
d
tr
ac
k
i
n
g
p
eo
p
le.
T
h
e
s
ch
e
m
es,
th
o
u
g
h
f
ar
f
r
o
m
a
u
to
n
o
m
o
u
s
i
m
p
le
m
en
t
atio
n
,
p
r
o
v
id
e
h
i
g
h
lev
els
o
f
p
er
f
o
r
m
a
n
ce
f
o
r
b
o
th
p
r
o
b
lem
s
[
1
1
,
1
2
]
.
T
h
is
s
tr
ate
g
y
is
k
n
o
w
n
as
V
is
u
al
Ser
v
o
in
g
o
r
Vis
io
n
-
B
ased
R
o
b
o
t
C
o
n
tr
o
l
(
VS)
an
d
is
c
h
ar
ac
ter
ized
b
y
h
a
v
i
n
g
as
f
ee
d
b
ac
k
in
f
o
r
m
at
io
n
th
e
i
m
ag
e
o
f
a
ca
m
er
a
[
1
3
]
.
T
h
e
g
o
al
is
to
s
u
p
p
o
r
t
r
o
b
o
t
d
ec
is
io
n
m
a
k
i
n
g
w
i
th
e
y
es
th
at
ta
k
e
o
p
tical
in
f
o
r
m
a
tio
n
f
r
o
m
its
o
wn
p
er
s
p
ec
tiv
e
[
1
4
]
.
Ho
w
ev
er
,
t
h
e
u
s
e
o
f
ca
m
er
as
ca
p
ab
le
o
f
co
n
t
in
u
o
u
s
l
y
r
ec
o
r
d
in
g
p
eo
p
le’
s
p
er
s
o
n
a
l
li
v
es
in
v
o
l
v
es
s
er
io
u
s
p
r
iv
ac
y
i
s
s
u
e
s
,
an
d
d
esp
ite
th
e
g
u
ar
an
tees
o
f
en
cr
y
p
tio
n
an
d
n
o
n
-
s
h
ar
i
n
g
o
f
in
f
o
r
m
atio
n
,
f
ea
r
p
r
ev
ails
[
1
5
]
.
I
n
ad
d
itio
n
,
th
e
v
is
u
al
i
n
f
o
r
m
atio
n
ca
p
tu
r
ed
b
y
t
h
e
ca
m
er
as
is
,
in
f
ac
t,
ex
ce
s
s
i
v
e
f
o
r
th
e
r
ea
lizatio
n
o
f
ce
r
tain
tas
k
s
.
Dis
ta
n
ce
s
en
s
o
r
s
ar
e
also
w
id
el
y
u
s
ed
i
n
t
h
ese
ap
p
licatio
n
s
[
1
1
]
,
an
d
u
n
lik
e
v
id
eo
ca
m
er
a
s
,
th
e
y
h
a
v
e
g
r
ea
ter
ac
ce
p
tan
ce
t
o
w
o
r
k
b
et
w
ee
n
p
eo
p
le
b
ec
au
s
e
th
e
y
r
ec
o
r
d
less
p
r
iv
ate
in
f
o
r
m
at
io
n
.
T
h
e
m
o
s
t
i
m
p
o
r
tan
t
ch
ar
ac
ter
i
s
tic
o
f
t
h
e
f
o
llo
w
in
g
tas
k
is
t
h
at
it
i
s
s
tr
o
n
g
l
y
f
o
c
u
s
ed
o
n
t
h
e
p
er
s
o
n
u
n
d
er
ca
r
e.
T
h
is
is
a
co
m
m
o
n
ca
s
e
in
s
er
v
ice
r
o
b
o
ts
t
h
at
p
r
o
v
id
e
s
o
m
e
s
er
v
ice
to
a
p
er
s
o
n
[
1
6
-
1
8
]
.
P
r
ac
tically
s
p
ea
k
in
g
,
t
h
is
m
ea
n
s
th
at
t
h
e
r
o
b
o
t
m
u
s
t
b
e
a
w
ar
e
o
f
t
h
e
p
er
s
o
n
’
s
b
eh
a
v
io
r
.
Si
m
ilar
l
y
,
t
h
e
r
o
b
o
t
w
i
ll
i
g
n
o
r
e
o
th
er
ele
m
en
ts
o
f
th
e
e
n
v
ir
o
n
m
e
n
t
u
n
les
s
t
h
e
y
f
o
r
ce
th
e
r
o
b
o
t’
s
r
esp
o
n
s
e
[
1
9
,
2
0
]
.
I
n
th
is
s
en
s
e,
w
e
o
n
l
y
s
t
u
d
y
i
n
o
u
r
r
esear
c
h
th
e
au
to
n
o
m
o
u
s
r
esp
o
n
s
e
o
f
th
e
r
o
b
o
t t
o
th
e
b
eh
av
io
r
o
f
th
e
p
er
s
o
n
.
I
n
o
u
r
r
esear
ch
,
w
e
d
ef
i
n
e
th
e
task
o
f
f
o
llo
w
i
n
g
p
eo
p
le,
in
th
e
co
n
tex
t
o
f
s
er
v
ice
r
o
b
o
ts
,
as
a
h
ig
h
-
le
v
el
tas
k
t
h
at
th
e
r
o
b
o
t
p
er
f
o
r
m
s
at
all
ti
m
es
i
n
p
ar
allel
w
it
h
it
s
in
ter
ac
tio
n
tas
k
s
[
2
1
]
.
I
n
th
e
co
n
tex
t
o
f
th
e
ta
s
k
,
t
h
e
r
o
b
o
t
d
o
es
n
o
t
k
n
o
w
t
h
e
p
er
s
o
n
’
s
m
o
v
e
m
e
n
t
d
y
n
a
m
ics,
w
h
et
h
er
th
e
p
er
s
o
n
i
s
g
o
in
g
to
r
e
m
ain
s
til
l,
o
r
w
h
er
e
it
is
g
o
in
g
w
h
en
w
a
l
k
in
g
.
I
n
th
i
s
w
a
y
,
t
h
e
r
o
b
o
t
n
ee
d
s
to
in
f
er
th
e
p
er
s
o
n
’
s
m
o
v
e
m
en
t
b
ef
o
r
eh
a
n
d
an
d
ac
t
ac
co
r
d
in
g
l
y
.
I
n
ad
d
itio
n
,
t
h
e
d
esig
n
o
f
th
e
m
o
v
e
m
e
n
t
s
c
h
e
m
e
m
u
s
t
tak
e
in
to
ac
co
u
n
t
th
e
af
o
r
e
m
e
n
tio
n
ed
asp
ec
ts
o
f
n
a
v
ig
a
tio
n
,
in
ter
ac
t
io
n
,
an
d
s
en
s
i
n
g
,
as
th
ese
ar
e
k
e
y
el
e
m
e
n
t
s
in
th
e
r
o
b
o
t’
s
f
i
n
al
ac
tio
n
.
T
h
ese
p
ar
am
eter
s
ar
e
co
m
b
in
ed
w
it
h
an
ad
ap
tiv
e
lear
n
i
n
g
s
c
h
e
m
e
a
n
d
an
i
n
f
er
e
n
ce
m
ac
h
i
n
e
b
ased
o
n
f
u
zz
y
i
n
f
er
en
ce
.
T
h
ese
t
w
o
ele
m
en
t
s
f
o
r
m
th
e
Fu
zz
y
Ne
u
r
al
Net
w
o
r
k
(
FNN)
d
esig
n
ed
f
o
r
d
ec
is
io
n
m
a
k
i
n
g
,
w
h
ic
h
is
s
u
p
p
lied
b
y
o
u
r
ac
tiv
e
d
is
ta
n
ce
s
e
n
s
o
r
[
2
2
,
2
3
]
.
2.
P
RO
B
L
E
M
F
O
R
M
UL
AT
I
O
N
T
h
e
g
o
al
o
f
th
is
r
esear
ch
is
to
d
ev
elo
p
a
r
o
b
u
s
t
an
d
h
ig
h
-
p
er
f
o
r
m
a
n
ce
s
o
f
t
w
ar
e
to
o
l
th
at
allo
w
s
th
e
d
ev
elo
p
m
e
n
t o
f
au
to
n
o
m
o
u
s
tas
k
s
o
f
p
eo
p
le
f
o
llo
w
-
u
p
b
y
a
s
m
al
l a
u
to
n
o
m
o
u
s
r
o
b
o
t.
T
h
e
w
o
r
k
is
s
tr
o
n
g
l
y
m
o
tiv
a
ted
b
y
th
e
n
ee
d
f
o
r
th
i
s
f
ea
tu
r
e
as
p
ar
t
o
f
th
e
r
o
u
tin
e
in
ter
ac
tio
n
o
f
an
ass
is
t
iv
e
r
o
b
o
t
th
at
o
p
er
ates
in
u
n
k
n
o
w
n
i
n
d
o
o
r
en
v
ir
o
n
m
e
n
ts
.
L
et
W
⊂
ℝ
2
b
e
t
h
e
clo
s
u
r
e
o
f
a
co
n
tr
ac
tib
le
o
p
en
s
et
i
n
th
e
p
lan
e
t
h
at
h
as
a
co
n
n
ec
ted
o
p
en
i
n
ter
io
r
w
it
h
o
b
s
tacle
s
t
h
at
r
ep
r
esen
t
i
n
ac
ce
s
s
ib
le
r
eg
io
n
s
.
L
et
b
e
a
s
et
o
f
o
b
s
tacle
s
,
in
w
h
ic
h
ea
ch
O
⊂
is
c
lo
s
ed
w
it
h
a
co
n
n
ec
ted
p
iece
w
i
s
e
-
an
a
l
y
t
ic
b
o
u
n
d
ar
y
th
a
t
is
f
in
ite
i
n
le
n
g
t
h
.
T
h
e
p
o
s
itio
n
o
f
o
b
s
tacle
s
i
n
th
e
en
v
ir
o
n
m
e
n
t
ch
a
n
g
es
o
v
er
ti
m
e
i
n
an
u
n
k
n
o
w
n
w
a
y
,
b
u
t
t
h
e
y
ar
e
d
etec
tab
le
b
y
d
is
tan
ce
s
en
s
o
r
s
.
I
n
ad
d
itio
n
,
th
e
o
b
s
tacle
s
i
n
ar
e
p
air
w
i
s
e
-
d
is
j
o
in
t a
n
d
co
u
n
tab
l
y
f
i
n
ite
i
n
n
u
m
b
er
.
L
et
E
⊂
W
b
e
t
h
e
f
r
e
e
s
p
ac
e
in
t
h
e
en
v
ir
o
n
m
e
n
t,
w
h
ich
i
s
th
e
o
p
en
s
u
b
s
et
o
f
W
w
it
h
t
h
e
o
b
s
tacle
s
r
e
m
o
v
ed
.
T
h
is
s
p
ac
e
ca
n
b
e
f
r
e
el
y
n
a
v
i
g
ated
b
y
t
h
e
r
o
b
o
t,
b
u
t
it
ca
n
also
b
e
o
cc
u
p
ied
at
an
y
ti
m
e
b
y
a
n
o
b
s
tacle
.
T
h
e
r
o
b
o
t
k
n
o
w
s
t
h
e
e
n
v
ir
o
n
m
en
t
W
(
an
d
E
)
f
r
o
m
o
b
s
er
v
at
io
n
s
,
u
s
i
n
g
s
e
n
s
o
r
s
.
T
h
ese
o
b
s
er
v
atio
n
s
allo
w
h
i
m
to
b
u
ild
an
in
f
o
r
m
atio
n
s
p
ac
e
I
.
A
n
i
n
f
o
r
m
atio
n
m
ap
p
in
g
is
o
f
th
e
f
o
r
m
:
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
1693
-
6
9
3
0
T
E
L
KOM
NI
K
A
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elec
o
m
m
u
n
C
o
m
p
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t E
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C
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n
tr
o
l
,
Vo
l.
18
,
No
.
2
,
A
p
r
il 2
0
2
0
:
1
0
3
0
-
1
0
3
7
1032
:
→
(
1
)
w
h
er
e
S
d
en
o
te
an
o
b
s
er
v
atio
n
s
p
ac
e,
co
n
s
tr
u
cted
f
r
o
m
s
e
n
s
o
r
r
ea
d
in
g
s
o
v
er
ti
m
e,
i.e
.
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o
u
g
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a
n
o
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s
er
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atio
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is
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r
y
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(
2
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.
̃
:
[
0
,
]
→
(
2
)
T
h
e
in
ter
p
r
etatio
n
o
f
th
i
s
in
f
o
r
m
atio
n
s
p
ac
e,
i.e
.
,
I
✕
S
⟶
I
,
is
th
at
w
h
ic
h
allo
w
s
t
h
e
r
o
b
o
t
to
m
a
k
e
d
ec
is
io
n
s
.
T
h
e
p
r
o
b
lem
ca
n
b
e
ex
p
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es
s
ed
as
t
h
e
s
ea
r
ch
f
o
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a
f
u
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o
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o
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et
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ce
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ta
in
o
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an
d
a
tar
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ctio
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g
.
:
×
→
(
3
)
3.
M
E
T
H
O
DO
L
O
G
Y
As
p
ar
t
o
f
th
e
r
esear
ch
,
th
e
r
e
s
ea
r
ch
g
r
o
u
p
h
a
s
p
r
ev
io
u
s
l
y
d
ev
elo
p
ed
an
ac
tiv
e
s
e
n
s
o
r
th
at
p
r
o
ce
s
s
es
d
is
tan
ce
i
n
f
o
r
m
atio
n
to
d
ef
i
n
e
th
e
m
o
tio
n
o
f
an
au
to
n
o
m
o
u
s
r
o
b
o
t
in
i
n
d
o
o
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en
v
ir
o
n
m
e
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ts
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s
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g
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ea
l
-
ti
m
e
an
al
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s
is
o
f
r
a
w
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ata
f
r
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m
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g
r
o
u
p
o
f
n
i
n
e
i
n
f
r
ar
ed
s
en
s
o
r
s
[
2
2
]
.
T
h
e
in
f
r
a
-
r
ed
s
en
s
o
r
ca
p
tu
r
es
d
is
ta
n
ce
d
ata
i
n
r
ea
l
ti
m
e
p
r
o
d
u
cin
g
a
lar
g
e
d
at
ab
ase
th
at
t
h
e
r
o
b
o
t
an
al
y
ze
s
a
cc
o
r
d
in
g
to
p
r
ev
io
u
s
e
x
p
er
ien
c
es
to
d
ir
ec
tly
d
e
f
i
n
e
d
is
tan
ce
o
n
th
e
h
o
r
izo
n
tal
p
lan
e
to
th
e
o
b
j
ec
t
(
p
er
s
o
n
)
.
Ob
s
er
v
in
g
t
h
e
d
ep
en
d
en
ce
o
f
d
ata
w
ith
th
e
to
p
o
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g
y
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f
th
e
e
n
v
ir
o
n
m
en
t,
th
e
ac
ti
v
e
s
en
s
o
r
u
s
es
a
m
o
d
el
b
ased
o
n
a
lo
n
g
s
h
o
r
t
-
ter
m
m
e
m
o
r
y
(
L
ST
M)
n
et
w
o
r
k
to
esti
m
ate
d
is
ta
n
ce
s
[
2
4
]
.
T
h
an
k
s
to
th
i
s
m
o
d
el
it
is
p
o
s
s
ib
le
to
d
ef
in
e
co
o
r
d
in
ates
o
n
t
h
e
p
lan
e
o
f
th
e
en
v
ir
o
n
m
e
n
t
to
an
o
b
s
ta
cle
o
f
in
ter
e
s
t,
r
eg
ar
d
less
o
f
t
h
e
ch
ar
ac
ter
i
s
tic
s
o
f
t
h
e
o
b
s
tacle
o
r
it
s
p
o
s
it
io
n
w
it
h
r
esp
ec
t
to
th
e
r
o
b
o
t.
T
h
e
h
is
to
r
ical
b
eh
av
io
r
o
f
th
e
v
ar
iab
les is
al
s
o
u
s
e
d
to
d
if
f
er
en
tiate
t
h
e
p
er
s
o
n
o
f
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ter
est
f
r
o
m
o
th
er
ele
m
e
n
ts
a
n
d
o
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s
tacle
s
o
f
t
h
e
en
v
ir
o
n
m
e
n
t,
h
o
w
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er
,
to
d
i
f
f
er
en
tiate
b
et
w
ee
n
d
if
f
er
e
n
t
p
e
o
p
le
w
e
h
av
e
u
s
ed
s
p
ec
if
ic
m
ar
k
s
o
n
th
e
p
er
s
o
n
o
f
in
ter
est.
T
h
e
ac
tiv
e
s
e
n
s
o
r
d
eliv
er
s
th
e
co
o
r
d
in
ates
x
an
d
y
to
th
e
o
b
s
t
ac
le
u
n
d
er
s
tu
d
y
(
p
er
s
o
n
to
f
o
l
lo
w
)
w
it
h
r
esp
ec
t
to
an
a
x
is
d
e
f
in
ed
o
n
t
h
e
g
eo
m
etr
ical
ce
n
ter
o
f
th
e
r
o
b
o
t.
T
h
is
s
e
n
s
o
r
h
a
s
a
r
ea
l
-
ti
m
e
p
r
o
ce
s
s
i
n
g
u
n
it
th
at
as
s
i
g
n
s
v
alu
e
s
to
t
h
e
r
a
w
d
ata
ca
p
tu
r
ed
b
y
t
h
e
n
i
n
e
i
n
f
r
a
-
r
ed
s
en
s
o
r
s
u
s
in
g
m
o
d
els
b
ased
o
n
an
L
ST
M
n
et
w
o
r
k
.
T
h
ese
d
ata
also
d
ef
i
n
e
th
e
h
ea
d
i
n
g
θ
a
n
d
allo
w
to
d
e
ter
m
i
n
e
s
p
ee
d
an
d
ac
ce
ler
atio
n
Fig
u
r
e
1
.
Fig
u
r
e
1
.
Var
iab
les an
d
d
i
m
en
s
io
n
s
a
x
es o
n
t
h
e
p
lan
e
w
i
th
r
e
s
p
ec
t to
th
e
r
o
b
o
t
T
h
e
p
r
o
p
o
s
ed
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y
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te
m
i
s
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ed
o
f
a
f
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zz
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e
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r
al
n
et
w
o
r
k
(
FNN)
an
d
an
ad
ap
tiv
e
lear
n
i
n
g
alg
o
r
ith
m
F
ig
u
r
e
2
.
T
h
e
n
eu
r
a
l
n
et
w
o
r
k
i
s
m
ad
e
u
p
o
f
f
iv
e
l
a
y
er
s
:
a
la
y
er
o
f
i
n
p
u
t
v
ar
iab
les
(
t
w
o
-
d
i
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en
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io
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al
d
is
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s
f
r
o
m
th
e
r
o
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o
t
to
th
e
o
b
s
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,
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e
r
elativ
e
v
elo
city
b
et
w
ee
n
r
o
b
o
t
an
d
o
b
s
tacle
,
th
e
h
ea
d
in
g
an
g
le
an
d
ac
ce
ler
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n
)
,
th
e
s
ec
o
n
d
la
y
er
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r
r
esp
o
n
d
s
to
th
e
m
e
m
b
er
s
h
ip
f
u
n
ct
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n
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t
h
e
t
h
ir
d
la
y
er
is
o
f
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ea
s
o
n
in
g
r
u
les
w
i
th
T
ak
ag
i
-
S
u
g
e
n
o
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y
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e
in
f
er
e
n
ce
,
t
h
e
f
o
u
r
t
h
la
y
e
r
co
r
r
esp
o
n
d
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g
to
t
h
e
f
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zz
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t
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ica
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o
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o
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ar
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le,
an
d
th
e
f
if
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tp
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o
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tp
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t
v
ar
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le,
r
o
b
o
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.
T
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e
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p
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t v
ec
to
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h
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o
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w
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n
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f
o
r
m
at
(
4
)
:
=
[
,
,
,
,
]
(
4
)
Evaluation Warning : The document was created with Spire.PDF for Python.
T
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F
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1033
W
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T
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2
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:
(
∆
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(
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(
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(
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(
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ℎ
(
∆
,
∆
,
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Fig
u
r
e
2
.
P
r
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r
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y
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te
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ar
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h
itect
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r
e
A
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B
,
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D
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d
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o
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r
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e
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er
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ip
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n
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e
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o
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t
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d
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e
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ated
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zz
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e
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r
)
.
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ate
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3
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u
r
e
6
.
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ies.
RE
F
E
R
E
NC
E
S
[1
]
J.
W
irt
z
,
W
.
Ku
n
z
,
T
.
G
ru
b
e
r,
V
.
Nh
a
t,
S
.
P
a
lu
c
h
,
a
n
d
A
.
M
a
rti
n
s
,
“
Bra
v
e
n
e
w
w
o
rld
:
se
rv
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ro
b
o
ts
i
n
t
h
e
f
ro
n
tl
i
n
e
,
”
J
o
u
rn
a
l
o
f
S
e
rv
ice
M
a
n
a
g
e
me
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t
,
v
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l.
2
9
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o
.
5
,
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.
9
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M
-
04
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2
0
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8
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0
1
1
9
[2
]
I.
S
tan
islav
,
W
.
Cra
ig
,
a
n
d
K.
Be
re
z
in
a
,
“
A
d
o
p
ti
o
n
o
f
ro
b
o
ts
a
n
d
se
rv
ic
e
a
u
to
m
a
ti
o
n
b
y
to
u
rism
a
n
d
h
o
s
p
it
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li
ty
c
o
m
p
a
n
ies
”
.
Rev
ista
T
u
rism
o
&
De
se
n
v
o
lvime
n
to
,
v
o
l.
2
7
,
n
o
.
2
8
,
p
p
.
1
5
0
1
-
1
5
1
7
,
2
0
1
7
.
[3
]
P.
L
a
so
ta,
T
.
F
o
n
g
,
a
n
d
J.
S
h
a
h
,
“
A
su
rv
e
y
o
f
m
e
th
o
d
s
f
o
r
sa
f
e
h
u
m
a
n
-
ro
b
o
t
in
tera
c
ti
o
n
,
”
Fo
u
n
d
a
ti
o
n
s
a
n
d
T
re
n
d
s
i
n
Ro
b
o
ti
c
s
,
v
o
l
5
,
n
o
.
4
,
p
p
.
2
6
1
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9
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2
0
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7.
d
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i:
h
tt
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:/
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rg
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0
.
1
5
6
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2
3
0
0
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0
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5
2
[4
]
C.
F
re
u
n
d
li
c
h
,
Y.
Zh
a
n
g
,
A
.
Zh
u
,
P
.
M
o
r
d
o
h
a
i,
a
n
d
M
.
Zav
lan
o
s,
“
Co
n
tr
o
ll
i
n
g
a
ro
b
o
ti
c
ste
re
o
c
a
m
e
ra
u
n
d
e
r
im
a
g
e
q
u
a
n
t
iza
ti
o
n
n
o
ise
,
”
T
h
e
In
ter
n
a
t
io
n
a
l
J
o
u
rn
a
l
o
f
Ro
b
o
ti
c
s
Res
e
a
rc
h
,
v
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l.
3
6
,
n
o
.
1
2
,
p
p
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1
2
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,
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7
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1
7
7
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2
7
8
3
6
4
9
1
7
7
3
5
1
6
3
[5
]
S
.
S
o
lak
a
n
d
E.
D.
B
o
lat,
"
Dista
n
c
e
e
sti
m
a
ti
o
n
u
sin
g
ste
re
o
v
isio
n
f
o
r
in
d
o
o
r
m
o
b
il
e
r
o
b
o
t
a
p
p
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ti
o
n
s,"
2
0
1
5
9
th
In
ter
n
a
t
io
n
a
l
C
o
n
fer
e
n
c
e
o
n
E
lec
trica
l
a
n
d
El
e
c
tro
n
ics
En
g
i
n
e
e
rin
g
(
EL
ECO)
,
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rsa
,
p
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0
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ECO.
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5
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4
4
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2
[6
]
Y.
Ho
n
g
sh
a
n
,
Z.
Jia
n
g
,
W
.
Ya
o
n
a
n
,
J.
W
e
n
y
a
n
,
S
.
M
i
n
g
u
i,
a
n
d
T
.
Ya
n
d
o
n
g
,
“
Ob
sta
c
le
c
las
sif
ica
ti
o
n
a
n
d
3
D
m
e
a
su
re
m
e
n
ti
n
u
n
str
u
c
tu
re
d
e
n
v
iro
n
m
e
n
tsb
a
se
d
o
n
T
o
F
c
a
m
e
r
a
s”
,
S
e
n
so
rs
,
v
o
l.
1
4
,
n
o
.
1
,
p
p
.
1
0
7
5
3
-
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0
7
8
2
,
2
0
1
4
.
d
o
i:
1
0
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3
3
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0
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4
0
6
1
0
7
5
3
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KOM
NI
K
A
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l
C
o
n
tr
o
l
S
ch
eme
fo
r
mo
tio
n
esti
ma
tio
n
b
a
s
ed
o
n
a
d
a
p
tive
fu
z
z
y
n
eu
r
a
l n
etw
o
r
k
(
F
r
ed
y
Ma
r
tin
ez
)
1037
[7
]
Z.
Yu
a
n
sh
e
n
,
G
.
L
ian
g
,
H.
Yix
ia
n
g
,
a
n
d
L
.
Ch
e
n
g
li
a
n
g
,
“
A
re
v
ie
w
o
f
k
e
y
t
e
c
h
n
iq
u
e
s
o
f
v
isio
n
-
b
a
se
d
c
o
n
tr
o
l
f
o
r
h
a
rv
e
stin
g
ro
b
o
t,
”
Co
m
p
u
ter
s
a
n
d
El
e
c
tro
n
ics
in
A
g
ric
u
lt
u
re
,
IS
S
N
0
1
6
8
-
1
6
9
9
,
v
ol
.
1
2
7
,
p
p
.
3
1
1
-
323
,
S
e
p
t
2
0
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6
.
d
o
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0
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.
c
o
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p
a
g
.
2
0
1
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.
0
6
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0
2
2
[8
]
D.
F
isc
h
i
n
g
e
r,
P
.
Ei
n
ra
m
h
o
f
,
K.
P
a
p
o
u
tsa
k
is,
W
.
W
o
h
lk
in
g
e
r,
P
.
M
a
y
e
r,
P
.
P
a
n
e
k
,
S
.
H
o
fm
a
n
n
,
T
.
Ko
e
rt
n
e
r,
A
.
W
e
iss,
A
.
A
rg
y
ro
s,
a
n
d
M
.
Vin
c
z
e
.
“
Ho
b
b
it
,
a
c
a
re
ro
b
o
t
su
p
p
o
rti
n
g
in
d
e
p
e
n
d
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ter
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e
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h
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m
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istan
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,
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ra
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is
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2
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m
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d
,
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.
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e
lh
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m
,
a
n
d
F
.
Ko
c
h
e
ry
,
“
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jec
t
d
istan
c
e
m
e
a
su
re
m
e
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t
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y
ste
re
o
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isio
n
,
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ter
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ti
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l
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iu
n
g
,
L
.
Ha
o
-
T
in
g
,
a
n
d
H.
Ch
ien
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L
u
n
,
“
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v
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m
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m
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ti
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ro
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4
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n
d
A
.
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ro
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th
IFA
C
In
ter
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ti
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l
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e
o
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In
tell
ig
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n
t
Co
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o
l
a
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5
]
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.
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len
d
e
,
I
.
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o
n
ra
d
,
L
.
Kre
z
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o
r
n
,
S
.
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m
c
k
e
,
a
n
d
C.
Krä
tze
l,
“
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c
re
a
sin
g
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c
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e
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tan
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e
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ts
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o
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e
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p
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th
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g
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m
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rk
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g
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teg
ies
b
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k
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o
ld
e
r
n
e
e
d
s,”
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ter
n
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ti
o
n
a
l
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o
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o
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s
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IS
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6
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ro
ss
,
A
.
S
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ig
,
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De
b
e
s,
E.
Ei
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h
o
rn
,
M
.
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.
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,
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ld
,
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.
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y
,
a
n
d
C.
M
a
rti
n
,
“
ROREA
S
:
ro
b
o
t
c
o
a
c
h
f
o
r
wa
lk
in
g
a
n
d
o
rien
tatio
n
train
i
n
g
in
c
li
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ica
l
p
o
st
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stro
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h
a
b
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a
ti
o
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-
p
ro
t
o
ty
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e
im
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e
n
tatio
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d
e
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ti
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in
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tri
a
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to
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o
m
o
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s
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o
ts
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l.
4
1
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n
o
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7
]
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.
M
a
st,
M
.
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u
rm
e
ste
r,
B.
G
ra
f,
F
.
W
e
issh
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rd
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G
.
A
rb
e
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e
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.
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.
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tern
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,
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.
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rz
,
a
n
d
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.
Kro
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“
De
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ro
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s
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ro
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to
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e
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e
rly
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o
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le”
Ad
v
a
n
c
e
d
T
e
c
h
n
o
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ies
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8
]
K.
Ko
id
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n
d
J.
M
iu
ra
,
“
Id
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ti
f
ica
ti
o
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o
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a
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e
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n
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h
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ig
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n
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g
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it
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e
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ro
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o
t,
”
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o
b
o
ti
c
s
a
n
d
A
u
to
n
o
m
o
u
s
S
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m
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l.
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[1
9
]
R.
T
rieb
e
l,
K.
A
rra
s,
R.
A
la
m
i,
L.
Be
y
e
r,
S
.
Bre
u
e
rs,
R.
C
h
a
ti
la,
M
.
Ch
e
to
u
a
n
i
,
D.
Cre
m
e
rs
,
V
.
Ev
e
rs,
M
.
F
io
re
,
H.
Hu
n
g
,
O.
Isla
s,
M
.
Jo
o
ss
e
,
H.
K
h
a
m
b
h
a
it
a
,
a
n
d
T
.
Ku
c
n
e
r,
“
S
p
e
n
c
e
r:
A
so
c
iall
y
a
w
a
re
se
r
v
ice
ro
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o
t
f
o
r
p
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ss
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n
g
e
r
g
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i
d
a
n
c
e
a
n
d
h
e
l
p
in
b
u
sy
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irp
o
rts,
”
S
p
rin
g
e
r
T
ra
c
ts
in
Ad
v
a
n
c
e
d
Ro
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o
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s
,
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0
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.
He
rsh
,
“
Ov
e
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o
m
in
g
b
a
rriers
a
n
d
i
n
c
re
a
sin
g
in
d
e
p
e
n
d
e
n
c
e
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se
rv
ice
ro
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o
ts
f
o
r
e
ld
e
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a
n
d
d
isa
b
led
p
e
o
p
le,”
In
ter
n
a
t
io
n
a
l
J
o
u
rn
a
l
o
f
A
d
v
a
n
c
e
d
Ro
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o
t
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y
ste
ms
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o
l.
1
2
,
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o
.
8
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p
p
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1
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3
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0
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5
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o
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tt
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.
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e
rre
r,
A
.
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rre
ll
,
F
.
H
e
rre
ro
,
a
n
d
A
.
S
a
n
f
e
li
u
,
“
Ro
b
o
t
s
o
c
ial
-
a
w
a
r
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n
a
v
ig
a
ti
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ra
m
e
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to
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o
m
p
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n
y
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e
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p
le
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l
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e
-
by
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sid
e
,
”
Au
to
n
o
mo
u
s R
o
b
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ts
,
v
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l.
4
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o
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[2
2
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F
.
M
a
rt
í
n
e
z
,
A
.
Re
n
d
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,
a
n
d
M
.
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th
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ll
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o
ts
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o
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e
c
tu
re
No
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Co
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ter
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