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

共 918 条记录，以下是111-120 订阅

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Autonomous Exploration for Infrastructure Modeling with a Micro Aerial Vehicle 10th

Autonomous Exploration for Infrastructure Modeling with a Mi...

引用

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

作者： Yoder, Luke Scherer, Sebastian Carnegie Mellon Univ Pittsburgh PA 15213 USA

ISBN: (纸本)9783319277028;9783319277004

Micro aerial vehicles (MAVs) are an exciting technology for mobile sensing of infrastructure as they can easily position sensors in to hard to reach positions. Although MAVs equipped with 3D sensing are starting to be used in industry, they currently must be remotely controlled by a skilled pilot. In this paper we present an exploration path planning approach for MAVs equipped with 3D range sensors like lidar. The only user input that our approach requires is a 3D bounding box around the structure. Our method incrementally plans a path for a MAV to scan all surfaces of the structure up to a resolution and detects when exploration is finished. We demonstrate our method by modeling a train bridge and show that our method builds 3D models with the efficiency of a skilled pilot.

关键词： Motion planning

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Large Scale Dense Visual Inertial SLAM 10th

Large Scale Dense Visual Inertial SLAM

引用

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

作者： Ma, Lu Falquez, Juan M. McGuire, Steve Sibley, Gabe Univ Colorado Boulder CO 80309 USA

ISBN: (纸本)9783319277028;9783319277004

In this paper we present a novel large scale SLAM system that combines dense stereo vision with inertial tracking. The system divides space into a grid and efficiently allocates GPU memory only when there is surface information within a grid cell. A rolling grid approach allows the system to work for large scale outdoor SLAM. A dense visual inertial dense tracking pipeline incrementally localizes stereo cameras against the scene. The proposed system is tested with both a simulated data set and several real-life data in different lighting (illumination changes), motion (slow and fast), and weather (snow, sunny) conditions. Compared to structured light-RGBD systems the proposed system works indoors and outdoors and over large scales beyond single rooms or desktop scenes. Crucially, the system is able to leverage inertial measurements for robust tracking when visual measurements do not suffice. Results demonstrate effective operation with simulated and real data, and both indoors and outdoors under varying lighting conditions.

关键词： Stereo image processing

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Multi-robot Manipulation Without Communication 1

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

作者： Wang, Zijian Schwager, Mac Boston Univ Dept Mech Engn Boston MA 02215 USA

ISBN: (数字)9784431558798

ISBN: (纸本)9784431558798;9784431558774

This paper presents a novel multi-robot manipulation algorithm which allows a large number of small robots to move a comparatively large object along a desired trajectory to a goal location. The algorithm does not require an explicit communication network among the robots. Instead, the robots coordinate their actions through sensing the motion of the object itself. It is proven that this implicit information is sufficient to synchronize the forces applied by the robots. A leader robot then steers the forces of the synchronized group to manipulate the object through the desired trajectory to the goal. The paper presents algorithms that are proven to control both translational and rotational motion of the object. Simulations demonstrate the approach for two scenarios with 20 robots transporting a rectangular plank and 1000 robots transporting a piano.

关键词： Multi-robot Manipulation Cooperative Control

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Dense and Swift Mapping with Monocular Vision 10th

Dense and Swift Mapping with Monocular Vision

引用

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

作者： Pinies, Pedro Paz, Lina Maria Newman, Paul Univ Oxford Dept Engn Sci Mobile Robot Grp 17 Parks Rd Oxford OX1 3PJ England

ISBN: (纸本)9783319277028;9783319277004

The estimation of dense depthmaps has become a fundamental module in the pipeline of many visual-based navigation and planning systems. The motivation of our work is to achieve a fast and accurate in-situ infrastructure modelling from a monocular camera mounted on an autonomous car. Our technical contribution is in the application of a Lagrangian Multipliers based formulation to minimise an energy that combines a non-convex dataterm with adaptive pixel-wise regularisation to yield the final local reconstruction. We advocate the use of constrained optimisation for this task-we shall show it is swift, accurate and simple to implement. Specifically we propose an Augmented Lagrangian (AL) method that markedly reduces the number of iterations required for convergence, more than 50% of reduction in all cases in comparison to the state-of-the-art approach. As a result, part of this significant saving is invested in improving the accuracy of the depth map. We introduce a novel per pixel inverse depth uncertainty estimation that affords us to apply adaptive regularisation on the initial depth map: high informative inverse depth pixels require less regularisation, however its impact on more uncertain regions can be propagated providing significant improvement on textureless regions. To illustrate the benefits of our approach, we ran our experiments on three synthetich datasets with perfect ground truth for textureless scenes. An exhaustive analysis shows that AL can speed up the convergence up to 90% achieving less than 4 cm of error. In addition, we demonstrate the application of the proposed approach on a challenging urban outdoor dataset exhibiting a very diverse and heterogeneous structure.

关键词： Pixels

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Mobility Assessment of Wheeled Robots Operating on Soft Terrain 10th

Mobility Assessment of Wheeled Robots Operating on Soft Terr...

引用

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

作者： Ghotbi, Bahareh Gonzalez, Francisco Kovecses, Jozsef Angeles, Jorge McGill Univ Montreal PQ H3A 0C3 Canada Univ A Coruna Lab Ingn Mecan Mendizabal S-N Ferrol 15403 Spain

ISBN: (纸本)9783319277028;9783319277004

Optimizing the vehicle mobility is an important goal in the design and operation of wheeled robots intended to perform on soft, unstructured terrain. In the case of vehicles operating on soft soil, mobility is not only a kinematic concept, but it is related to the traction developed at the wheel-ground interface and cannot be separated from terramechanics. Poor mobility may result in the entrapment of the vehicle or limited manoeuvring capabilities. This paper discusses the effect of normal load distribution among the wheels of an exploration rover and proposes strategies to modify this distribution in a convenient way to enhance the vehicle ability to generate traction. The reconfiguration of the suspension and the introduction of actuation on previously passive joints were the strategies explored in this research. The effect of these actions on vehicle mobility was assessed with numerical simulation and sets of experiments, conducted on a six-wheeled rover prototype. Results confirmed that modifying the normal load distribution is a suitable technique to improve the vehicle behaviour in certain manoeuvres such as slope climbing.

关键词： Machine design

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Learning from Demonstrations Through the Use of Non-rigid Registration 16th

Learning from Demonstrations Through the Use of Non-rigid Re...

引用

16th International Symposium on robotics Research (ISSR)

作者： Schulman, John Ho, Jonathan Lee, Cameron Abbeel, Pieter Univ Calif Berkeley Dept Elect Engn & Comp Sci Berkeley CA 94720 USA

ISBN: (纸本)9783319288727;9783319288703

We consider the problem of teaching robots by demonstration how to perform manipulation tasks, in which the geometry (including size, shape, and pose) of the relevant objects varies from trial to trial. We present a method, which we call trajectory transfer, for adapting a demonstrated trajectory from the geometry at training time to the geometry at test time. Trajectory transfer is based on non-rigid registration, which computes a smooth transformation from the training scene onto the testing scene. We then show how to perform a multi-step task by repeatedly looking up the nearest demonstration and then applying trajectory transfer. As our main experimental validation, we enable a PR2 robot to autonomously tie five different types of knots in rope.

关键词： Geometry

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Human-Robot Interaction Strategies for Walker-Assisted Locomotion 1st ed. 2016

引用

丛书名： springer tracts in advanced robotics

2016年

作者： Carlos A. Cifuentes Anselmo Frizera

ISBN: (数字)9783319340630

ISBN: (纸本)9783319340623

This book presents the development of a new multimodal human-robot interface for testing and validating control strategies applied to robotic walkers for assisting human mobility and gait rehabilitation. The aim is to achieve a closer interaction between the robotic device and the individual, empowering the rehabilitation potential of such devices in clinical applications. A new multimodal human-robot interface for testing and validating control strategies applied to robotic walkers for assisting human mobility and gait rehabilitation is presented. Trends and opportunities for future advances in the field of assistive locomotion via the development of hybrid solutions based on the combination of smart walkers and biomechatronic exoskeletons are also discussed.

关键词： Human-robot interaction. Robots

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Knowledge Co-creation Framework: Novel Transfer Learning Method in Heterogeneous Multi-agent Systems 1

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

作者： Kono, Hitoshi Murata, Yuta Kamimura, Akiya Tomita, Kohji Suzuki, Tsuyoshi Tokyo Denki Univ Tokyo 101 Japan Natl Inst Adv Ind Sci & Technol Ibaraki Japan

ISBN: (数字)9784431558798

ISBN: (纸本)9784431558798;9784431558774

This paper presents a framework, called the knowledge co-creation framework (KCF), for the heterogeneous multi-robot transfer learning method with utilization of cloud-computing resources. A multi-agent robot system (MARS) that utilizes reinforcement learning and transfer learning methods has recently been deployed in real-world situations. In MARS, autonomous agents obtain behavior autonomously through multi-agent reinforcement learning and the transfer learning method enables the reuse of the knowledge of other robots' behavior, such as for cooperative behavior. These methods, however, have not been fully and systematically discussed. To address this, KCF leverages the transfer learning method and cloud-computing resources. In prior research, we developed a hierarchical transfer learning (HTL) method as the core technology of knowledge co-creation and investigated its effectiveness in a dynamic multi-agent environment. The HTL method hierarchically abstracts obtained knowledge by ontological methods. Here, we evaluate the effectiveness of HTL with two types of ontology: action and state.

关键词： Transfer learning Reinforcement learning Heterogeneous agents Multi-agent system

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A Repartitioning Algorithm to Guarantee Complete, Non-overlapping Planar Coverage with Multiple Robots 1

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

作者： Hungerford, Kurt Dasgupta, Prithviraj Guruprasad, K. R. Univ Nebraska Dept Comp Sci Omaha NE 68182 USA Natl Inst Technol Dept Mech Engn Mangaluru Karnataka India

ISBN: (数字)9784431558798

ISBN: (纸本)9784431558798;9784431558774

We consider the problem of coverage path planning in an initially unknown or partially known planar environment using multiple robots. Previously, Voronoi partitioning has been proposed as a suitable technique for coverage path planning where the free space in the environment is partitioned into non-overlapping regions called Voronoi cells based on the initial positions of the robots, and one robot is allocated to perform coverage in each region. However, a crucial problem arises if such a partitioning scheme is used in an environment where the location of obstacles is not known a priori-while performing coverage, a robot might perceive an obstacle that occludes its access to portions of its Voronoi cell and this obstacle might prevent the robot from completely covering its allocated region. This would either result in portions of the environment remaining uncovered or requires additional path planning by robots to cover the disconnected regions. To address this problem, we propose a novel algorithm that allows robots to coordinate the coverage of inaccessible portions of their Voronoi cell with robots in neighboring Voronoi cells so that they can repartition the initial Voronoi cells and cover a set of contiguous, connected regions. We have proved analytically that our proposed algorithm guarantees complete, non-overlapping coverage. We have also quantified the performance of our algorithm on e-puck robots within the Webots simulator in different environments with different obstacle geometries and shown that it successfully performs complete, non-overlapping coverage.

关键词： Multi-robot systems Coverage path planning Voronoi partitioning

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Multi-vehicle Dynamic Pursuit Using Underwater Acoustics 16th

Multi-vehicle Dynamic Pursuit Using Underwater Acoustics

引用

16th International Symposium on robotics Research (ISSR)

作者： Reed, Brooks Leighton, Josh Stojanovic, Milica Hover, Franz MIT WHOI Joint Program Oceanog Engn Cambridge MA 02139 USA MIT 77 Massachusetts Ave Cambridge MA 02139 USA Northeastern Univ 360 Huntington Ave Boston MA 02115 USA

ISBN: (纸本)9783319288727;9783319288703

Marine robots communicating wirelessly is an increasingly attractive means for observing and monitoring the ocean, but acoustic communication remains a major impediment to real-time control. In this paper we address through experiments the capability of acoustics to sustain highly dynamic, multi-agent missions, in particular range-only pursuit in a challenging shallow-water environment. We present in detail results comparing the tracking performance of three different communication configurations, at operating speeds near 1.5m/s. A "lower bound" case with RF wireless communication, a 4-second cycle and no quantization has a tracking bandwidth of approximate to 0.5 rad/s. When using full-sized modem packets with negligible quantization and a 23-second cycle time, the tracking bandwidth is approximate to 0.065 rad/s. With 13-bit mini-packets, we employ logarithmic quantization to achieve a cycle time of 12 s and a tracking bandwidth of approximate to 0.13 rad/s. These outcomes show definitively that aggressive dynamic control of multi-agent systems underwater is tractable today.

关键词： Underwater acoustics

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