@BachelorThesis{Sedlacek-TR-2012-11,
  IS = { zkontrolovano 16 Jan 2014 },
  UPDATE  = { 2012-10-01 },
author =      {Sedl{\' a}{\v c}ek, Filip},
supervisor =  {Svoboda, Tom{\'a}{\v s}},
title =       {Autonomous flipper control for a tracked robot using 
               {2D} vertical laser scan},
school =      {Center for Machine Perception, K13133 FEE
               Czech Technical University},
address =     {Prague, Czech Republic},
year =        {2012},
month =       {June},
day =         {26},
type =        {{BSc Thesis CTU--CMP--2012--11}},
issn =        {1213-2365},
pages =       {60},
figures =     {50},
authorship =  {100},
psurl       = {[Sedlacek-TR-2012-11.pdf]},
project =     {FP7-ICT-247870 NIFTi, GACR P103/10/1585},
annote =      {This work describes a Robot Operating System (ROS)
    module for automatic flipper adaptation during obstacle traversal
    with the tracked NIFTi robot.  This module is intended to relieve
    the robot operator from the difficult task of remotely controlling
    all four flippers by adjusting the flippers automatically. The
    operator may decide to switch on the automatic mode part of the
    time for example during a staircase traversal.  The algorithm does
    not model the terrain explicitly. It measures the terrain profile
    by a vertically positioned 2D laser scanner mounted on the front
    of the robot. The main goal is to achieve the flippers touch the
    ground in order to maintain robot's stability.  The proposed
    algorithm has been successfully tested on traversing staircases,
    curbs, rails and various other obstacles of different shapes.},
keywords =    {mobile robot, flipper control, laser scanning},
}