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检索条件"丛书名=Springer Tracts in Advanced Robotics"

共 918 条记录，以下是91-100 订阅

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The Solving by Building Approach Based on Thermoplastic Adhesives 16th

The Solving by Building Approach Based on Thermoplastic Adhe...

引用

16th International Symposium on robotics Research (ISSR)

作者： Iida, Fumiya Wang, Liyu Brodbeck, Luzius Leach, Derek Nurzaman, Surya Culha, Utku ETH Inst Robot & Intelligent Syst Bioinspired Robot Lab Leonhardstr 27 CH-8092 Zurich Switzerland

ISBN: (纸本)9783319288727;9783319288703

While, in nature, changes of morphology such as body shape, size, and strength play essential roles in animals' adaptability in a variety of environment, our robotic systems today still severely suffer from the lack of flexibility in morphology which is one of the most significant bottlenecks for their autonomy and adaptability. With the ability to autonomously modify own body shapes or mechanical structures in surroundings, robotic systems could achieve a variety of tasks in flexible and simple manners. For this reason, we have been investigating technological solutions based on a class of unconventional material, the so-called Thermoplastic Adhesives (TPAs), with which the robots are able to construct their own body parts as well as connecting and disconnecting various mechanical structures. Based on our technological exploration so far, in this paper, we introduce the concept of "solving-by-building" approach, in which we consider how autonomous construction of mechanical parts can help robots to improve performances or to "solve" problems in given tasks. Unlike the conventional adaptive systems that can only learn motor control policies, the ability to change mechanical structures can potentially deal with a significantly more variety of problems. By introducing some of the recent case studies in our laboratory, we discuss the challenges and perspectives of the solving-by-building approach based on TPAs.

关键词： Adaptive control systems

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Long-Endurance Sensing and Mapping Using a Hand-Launchable Solar-Powered UAV 10th

Long-Endurance Sensing and Mapping Using a Hand-Launchable S...

引用

10th International Conference on Field and Service robotics (FSR)

作者： Oettershagen, Philipp Stastny, Thomas Mantel, Thomas Melzer, Amir Rudin, Konrad Gohl, Pascal Agamennoni, Gabriel Alexis, Kostas Siegwart, Roland ETH Autonomous Syst Lab Zurich Switzerland

ISBN: (纸本)9783319277028;9783319277004

This paper investigates and demonstrates the potential for very long endurance autonomous aerial sensing and mapping applications with AtlantikSolar, a small-sized, hand-launchable, solar-powered fixed-wing unmanned aerial vehicle. The platform design as well as the on-board state estimation, control and path-planning algorithms are overviewed. A versatile sensor payload integrating a multi-camera sensing system, extended on-board processing and high-bandwidth communication with the ground is developed. Extensive field experiments are provided including publicly demonstrated field-trials for search-and-rescue applications and long-term mapping applications. An endurance analysis shows that AtlantikSolar can provide full-daylight operation and a minimum flight endurance of 8 h throughout the whole year with its full multi-camera mapping payload. An open dataset with both raw and processed data is released and accompanies this paper contribution.

关键词： Mapping

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A Parameterized Geometric Magnetic Field Calibration Method for Vehicles with Moving Masses with Applications to Underwater Gliders 10th

A Parameterized Geometric Magnetic Field Calibration Method ...

引用

10th International Conference on Field and Service robotics (FSR)

作者： Claus, Brian Bachmayer, Ralf Woods Hole Oceanog Inst Appl Ocean Phys & Engn Woods Hole MA 02543 USA Mem Univ Newfoundland Fac Engn St John NF Canada

ISBN: (纸本)9783319277028;9783319277004

The accuracy of magnetic measurements performed by autonomous vehicles is often limited by the presence of moving ferrous masses. This work proposes a third order parameterized ellipsoid calibration method for magnetic measurements in the sensor frame. In this manner the ellipsoidal calibration coefficients are dependent on the locations of the moving masses. The parameterized calibration method is evaluated through field trials with an autonomous underwater glider equipped with a low power precision fluxgate sensor. These field trials were performed in the East Arm of Bonne Bay, Newfoundland in December of 2013. During these trials a series of calibration profiles with the mass shifting and ballast mechanisms at different locations were performed before and after the survey portion of the trials. The nominal ellipsoidal coefficients were extracted using the full set of measurements from a set of calibration profiles and used as the initial conditions for the third order polynomials. These polynomials were then optimized using a gradient descent solver resulting in a RMS error between the calibration measurements and the local total field of 28 and 17nT for the first and second set of calibration runs. When the parameterized coefficients are used to correct the magnetic measurements from the survey portion of the field trials the RMS error between the survey measurements and the local total field was 124 and 69nT when using the first and second set of coefficients.

关键词： Surveys

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Towards Cooperative Localization in Robotic Swarms 1

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12th International Symposium on Distributed Autonomous Robotic Systems (DARS)

作者： Pires, Anderson G. Macharet, Douglas G. Chaimowicz, Luiz Univ Fed Minas Gerais Dept Comp Sci Comp Vis & Robot Lab VeRLab Belo Horizonte MG Brazil Ctr Fed Educ Tecnol Minas Gerais CEFET MG Comp & Mech Dept Leopoldina MG Brazil

ISBN: (数字)9784431558798

ISBN: (纸本)9784431558798;9784431558774

Cooperative localization allows groups of robots to improve their overall localization by sharing position estimates within the team. In spite of being a well studied problem, very few works deal with the increased complexity when a large number of robots is used, as is the case in robotic swarms. In this paper, we present a characterization and analysis of the cooperative localization problem for robotic swarms. We use a decentralized cooperative mechanism in which robots take turns as dynamic landmarks providing information to their teammates. We perform several simulations and analyze the influence of these dynamic landmarks in the localization. More specifically, we study the impact of the number of robots in the localization and how the choice of landmarks affects the results.

关键词： Cooperative localization Cooperative mobile robots Swarm robotics

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Adaptive Communication in Multi-robot Systems Using Directionality of Signal Strength 16th

Adaptive Communication in Multi-robot Systems Using Directio...

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16th International Symposium on robotics Research (ISSR)

作者： Gil, Stephanie Kumar, Swarun Katabi, Dina Rus, Daniela MIT Boston MA 02115 USA

ISBN: (纸本)9783319288727;9783319288703

We consider the problem of satisfying communication demands in amultiagent system where several robots cooperate on a task and a fixed subset of the agents act as mobile routers. Our goal is to position the team of robotic routers to provide communication coverage to the remaining client robots. We allow for dynamic environments and variable client demands, thus necessitating an adaptive solution. We present an innovative method that calculates a mapping between a robot's current position and the signal strength that it receives along each spatial direction, for its wireless links to every other robot. We show that this information can be used to design a simple positional controller that retains a quadratic structure, while capturing the behavior of wireless signals in real-world environments. Notably, our approach does not necessitate stochastic sampling along directions that are counterproductive to the overall coordination goal, nor does it require exact client positions, or a known map of the environment.

关键词： Multipurpose robots

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Novel Assistive Device for Teaching Crawling Skills to Infants 10th

Novel Assistive Device for Teaching Crawling Skills to Infan...

引用

10th International Conference on Field and Service robotics (FSR)

作者： Ghazi, Mustafa A. Nash, Michael D. Fagg, Andrew H. Ding, Lei Kolobe, Thubi H. A. Miller, David P. Univ Oklahoma 865 Asp Ave Rm 212 Norman OK 73072 USA

ISBN: (纸本)9783319277028;9783319277004

Crawling is a fundamental skill linked to development far beyond simple mobility. Infants who have cerebral palsy and similar conditions learn to crawl late, if at all, pushing back other elements of their development. This paper describes the development of a robot (the Self-Initiated Prone Progression Crawler V3, or SIPPC3) that assists infants in learning to crawl. When an infant is placed onboard, the robot senses contact forces generated by the limbs interacting with the ground. The robot then moves or raises the infant's trunk accordingly. The robot responses are adjustable such that even infants lacking the muscle strength to crawl can initiate movement. The novel idea that this paper presents is the use of a force augmenting motion mechanism to help infants learn how to crawl.

关键词： Robots

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Towards Autonomous Robotic Coral Reef Health Assessment 10th

Towards Autonomous Robotic Coral Reef Health Assessment

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10th International Conference on Field and Service robotics (FSR)

作者： Manderson, Travis Li, Jimmy Poza, David Cortes Dudek, Natasha Meger, David Dudek, Gregory McGill Univ Sch Comp Sci Montreal PQ Canada Univ Calif Santa Cruz Dept Ecol & Evolutionary Biol Santa Cruz CA 95064 USA

ISBN: (纸本)9783319277028;9783319277004

This paper addresses the automated analysis of coral in shallow reef environments up to 90 ft deep. During a series of robotic ocean deployments, we have collected a data set of coral and non-coral imagery from four distinct reef locations. The data has been annotated by an experienced biologist and presented as a representative challenge for visual understanding techniques. We describe baseline techniques using texture and color features combined with classifiers for two vision sub-tasks: live coral image classification and live coral semantic segmentation. The results of these methods demonstrate both the feasibility of the task as well as the remaining challenges that must be addressed through the development of more sophisticated techniques in the future.

关键词： Reefs

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Adaptive Leader-Follower Formation in Cluttered Environment Using Dynamic Target Reconfiguration 1

引用

12th International Symposium on Distributed Autonomous Robotic Systems (DARS)

作者： Vilca, Jose Adouane, Lounis Mezouar, Youcef Univ Blaise Pascal Inst Pascal UMR CNRS 6602 Clermont Ferrand France

ISBN: (数字)9784431558798

ISBN: (纸本)9784431558798;9784431558774

This paper presents a control architecture for safe and smooth navigation of a group of Unmanned Ground Vehicles (UGV) while keeping a specific formation. The formation control is based on Leader-follower and Behavioral approaches. The proposed control architecture is designed to allow the use of a single control law for different multi-vehicle contexts (navigation in formation, transition between different formation shapes, obstacle avoidance, etc.). The obstacle avoidance strategy is based on the limit-cycle approach while taking into account the dimension of the formation. A new Strategy for Formation Reconfiguration (SFR) of the group of UGVs based on suitable smooth switching of the set-points (according, for instance, to the encountered obstacles or the new task to achieve) is proposed. The inter-vehicles collisions are avoided during the SFR using a penalty function acting on the vehicle velocities. Different simulations on cluttered environments show the performance and the efficiency of the proposal, to obtain fully reactive and distributed control strategy for the navigation in formation of a group of UGVs.

关键词： Cooperative robots Autonomous navigation Formation control Dynamic formation Target-reaching control

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Multi-robot Mapping of Lava Tubes 10th

Multi-robot Mapping of Lava Tubes

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10th International Conference on Field and Service robotics (FSR)

作者： Huang, X. Yang, J. Storrie-Lombardi, M. Lyzenga, G. Clark, C. M. Harvey Mudd Coll Claremont CA 91711 USA

ISBN: (纸本)9783319277028;9783319277004

Terrestrial planetary bodies such as Mars and the Moon are known to harbor volcanic terrain with enclosed lava tube conduits and caves. The shielding from cosmic radiation that they provide makes them a potentially hospitable habitat for life. This motivates the need to explore such lava tubes and assess their potential as locations for future human outposts. Such exploration will likely be conducted by autonomous mobile robots before humans, and this paper proposes a novel mechanism for constructing maps of lava tubes using a multi-robot platform. A key issue in mapping lava tubes is the presence of fine sand that can be found at the bottom of most tubes, as observed on earth. This fine sand makes robot odometry measurements highly prone to errors. To address this issue, this work leverages the ability of a multi-robot system to measure the relative motion of robots using laser range finders. Mounted on each robot is a 2D laser range finder attached to a servo to enable 3D scanning. The lead robot has an easily recognized target panel that allows the follower robot to measure both the relative distance and orientation between robots. First, these measurements are used to enable 2D (SLAM) of a lava tube. Second, the 3D range measurements are fused with the 2D maps via ICP algorithms to construct full 3D representations. Thismethod of 3D mapping does not require odometry measurements or fine-scale environment features. It was validated in a building hallway system, demonstrating successful loop closure and mapping errors on the order of 0.63m over a 79.64m long loop. Error growth models were determined experimentally that indicate the robot localization errors grow at a rate of 20mm per meter travelled, although this is also dependent on the relative orientation of robots localizing each other. Finally, the system was deployed in a lava tube located at Pisgah Crater in the Mojave Desert, CA. Data was collected to generate a full 3D map of the lava tube. Comparison wi

关键词： Multipurpose robots

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A Response Threshold Sigmoid Function Model for Swarm Robot Collaboration 1

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12th International Symposium on Distributed Autonomous Robotic Systems (DARS)

作者： Kanakia, Anshul Klingner, John Correll, Nikolaus Univ Colorado Dept Comp Sci Boulder CO 80309 USA

ISBN: (数字)9784431558798

ISBN: (纸本)9784431558798;9784431558774

We present a multi agent collaboration algorithm to recruit an approximate number of individually simple robots with controllable variance. We propose a sigmoid response threshold function motivated by task allocation in social insects, and describe macro-level models backed by micro-level simulations to predict the resulting team sizes and their variance. These results are further validated through physical experiments using the "Droplet" swarm robotics platform. We show that the slope of the response threshold function can be used to control the variance of group size, allowing agents to trade off deterministic team size with coordination speed, and making the proposed mechanism applicable to a variety of applications.

关键词： Swarm robotics Multi-agent systems Collaboration Task-allocation Response-threshold

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