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

共 918 条记录，以下是121-130 订阅

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BOR²G: Building Optimal Regularised Reconstructions with GPUs (in Cubes) 10th

BOR<SUP>2</SUP>G: Building Optimal Regularised Reconstructio...

引用

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

作者： Tanner, Michael 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

This paper is about dense regularised mapping using a single camera as it moves through large work spaces. Our technique is, as many are, a depth-map fusion approach. However, our desire to work both at large scales and outdoors precludes the use of RGB-D cameras. Instead, we need to work with the notoriously noisy depth maps produced from small sets of sequential camera images with known inter-frame poses. This, in turn, requires the application of a regulariser over the 3D surface induced by the fusion of multiple (of order 100) depth maps. We accomplish this by building and managing a cube of voxels. The combination of issues arising from noisy depth maps and moving through our workspace/voxel cube, so it envelops us, rather than orbiting around it as is common in desktop reconstructions, forces the algorithmic contribution of our work. Namely, we propose a method to execute the optimisation and regularisation in a 3D volume which has been only partially observed and thereby avoiding inappropriate interpolation and extrapolation. We demonstrate our technique indoors and outdoors and offer empirical analysis of the precision of the reconstructions.

关键词： Geometry

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Extended LQR: Locally-Optimal Feedback Control for Systems with Non-Linear Dynamics and Non-Quadratic Cost 16th

Extended LQR: Locally-Optimal Feedback Control for Systems w...

引用

16th International Symposium on robotics Research (ISSR)

作者： van den Berg, Jur Univ Utah Sch Comp Salt Lake City UT 84112 USA

ISBN: (纸本)9783319288727;9783319288703

We present Extended LQR, a novel approach for locally-optimal control for robots with non-linear dynamics and non-quadratic cost functions. Our formulation is conceptually different from existing approaches, and is based on the novel concept of LQR-smoothing, which is an LQR-analogue of Kalman smoothing. Our approach iteratively performs both a backward Extended LQR pass, which computes approximate cost-to-go functions, and a forward Extended LQR pass, which computes approximate cost-to-come functions. The states at which the sum of these functions is minimal provide an approximately optimal sequence of states for the control problem, and we use these points to linearize the dynamics and quadratize the cost functions in the subsequent iteration. Our results indicate that Extended LQR converges quickly and reliably to a locally-optimal solution of the non-linear, non-quadratic optimal control problem. In addition, we show that our approach is easily extended to include temporal optimization, in which the duration of a trajectory is optimized as part of the control problem. We demonstrate the potential of our approach on two illustrative non-linear control problems involving simulated and physical differential-drive robots and simulated quadrotor helicopters.

关键词： Dynamics

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Aggressive Maneuver Regulation of a Quadrotor UAV 16th

Aggressive Maneuver Regulation of a Quadrotor UAV

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16th International Symposium on robotics Research (ISSR)

作者： Spedicato, Sara Notarstefano, Giuseppe Buelthoff, Heinrich H. Franchi, Antonio Univ Salento Dept Engn Via Monteroni I-73100 Lecce Italy Max Planck Inst Biol Cybernet Spemannstr 38 D-72076 Tubingen Germany

ISBN: (纸本)9783319288727;9783319288703

In this paper we design a nonlinear controller for aggressive maneuvering of a quadrotor. We take a maneuver regulation perspective. Differently from the classical trajectory tracking approach, maneuver regulation does not require following a timed reference state, but a geometric "path" with a velocity (and possibly orientation) profile assigned on it. The proposed controller relies on three main ideas. Given a desired maneuver, i.e., a set of state trajectories equivalent under time translations, the system dynamics is decomposed into dynamics longitudinal and transverse to the maneuver. A space-dependent version of the transverse dynamics is derived, by using the longitudinal state, i.e., the arc-length of the path, as an independent variable. Then the controller is obtained as a function of the arc-length consisting of two terms: a feedforward term, being the nominal input to apply when on the path at the current arc-length, and a feedback term exponentially stabilizing the state-dependent transverse dynamics. Numerical computations are presented to prove the effectiveness of the proposed strategy. The controller performances are tested in presence of uncertainty of the model parameters and input noise and saturations. The controller is also tested in a realistic simulation environment validated against an experimental test-bed.

关键词： Controllers

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Autonomous Greenhouse Gas Sampling Using Multiple Robotic Boats 10th

Autonomous Greenhouse Gas Sampling Using Multiple Robotic Bo...

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

作者： Dunbabin, Matthew Queensland Univ Technol Inst Future Environm 2 George St Brisbane Qld 4000 Australia

ISBN: (纸本)9783319277028;9783319277004

Accurately quantifying total greenhouse gas emissions (e.g. methane) from natural systems such as lakes, reservoirs and wetlands requires the spatial-temporal measurement of both diffusive and ebullitive (bubbling) emissions. Traditional, manual, measurement techniques provide only limited localised assessment of methane flux, often introducing significant errors when extrapolated to the whole-of-system. In this paper, we directly address these current sampling limitations and present a novelmultiple robotic boat system configured to measure the spatiotemporal release of methane to atmosphere across inland waterways. The system, consisting of multiple networked Autonomous Surface Vehicles (ASVs) and capable of persistent operation, enables scientists to remotely evaluate the performance of sampling and modelling algorithms for real-world process quantification over extended periods of time. This paper provides an overview of the multi-robot sampling system including the vehicle and gas sampling unit design. Experimental results are shown demonstrating the system's ability to autonomously navigate and implement an exploratory sampling algorithm to measure methane emissions on two inland reservoirs.

关键词： robotics

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Task-Oriented Grasp Planning Based on Disturbance Distribution 16th

Task-Oriented Grasp Planning Based on Disturbance Distributi...

引用

16th International Symposium on robotics Research (ISSR)

作者： Lin, Yun Sun, Yu Univ S Florida 4202 E Fowler AveENB118 Tampa FL 33620 USA

ISBN: (纸本)9783319288727;9783319288703

One difficulty of task-oriented grasp planning is task modeling. In this paper, a manipulation task was modeled by building a non-parametric statistical distribution model from disturbance data captured during demonstrations. This paper proposes a task-oriented grasp quality criterion based on distribution of task disturbance and uses the criterion to search for a grasp that covers the most significant part of the disturbance distribution. To reduce the computational complexity of the search in a high-dimensional robotic hand configuration space, as well as to avoid a correspondence problem, the candidate grasps are computed from a reduced configuration space that is confined by a set of given thumb placements and thumb directions. The proposed approach has been validated with a Barrett hand and a Shadow hand on several objects in simulation. The resulting grasps in the evaluation generated by our approach increase the coverage of frequently-occurring disturbance rather than the coverage of a large area with a scattered distribution.

关键词： Wave functions

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Non-Field-of-View Acoustic Target Estimation in Complex Indoor Environment 10th

Non-Field-of-View Acoustic Target Estimation in Complex Indo...

引用

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

作者： Takami, Kuya Furukawa, Tomonari Kumon, Makoto Dissanayake, Gamini Virginia Tech Dept Mech Engn Blacksburg VA USA Kumamoto Univ Dept Mech Syst Engn Kumamoto Japan Univ Technol Sydney Ctr Autonomous Syst Sydney NSW 2007 Australia

ISBN: (纸本)9783319277028;9783319277004

This paper presents a new approach which acoustically localizes a mobile target outside the Field-of-View (FOV), or the Non-Field-of-View (NFOV), of an optical sensor, and its implementation to complex indoor environments. In this approach, microphones are fixed sparsely in the indoor environment of concern. In a prior process, the Interaural Level Difference IID of observations acquired by each set of two microphones is derived for different sound target positions and stored as an acoustic cue. When a new sound is observed in the environment, a joint acoustic observation likelihood is derived by fusing likelihoods computed from the correlation of the IID of the new observation to the stored acoustic cues. The location of the NFOV target is finally estimated within the recursive Bayesian estimation framework. After the experimental parametric studies, the potential of the proposed approach for practical implementation has been demonstrated by the successful tracking of an elderly person needing health care service in a home environment.

关键词： Microphones

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Vision and Learning for Deliberative Monocular Cluttered Flight 10th

Vision and Learning for Deliberative Monocular Cluttered Fli...

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

作者： Dey, Debadeepta Shankar, Kumar Shaurya Zeng, Sam Mehta, Rupesh Agcayazi, M. Talha Eriksen, Christopher Daftry, Shreyansh Hebert, Martial Bagnell, J. Andrew Carnegie Mellon Univ Inst Robot Pittsburgh PA 15213 USA NVIDIA Corp Santa Clara CA USA George Mason Univ Fairfax VA 22030 USA Harvey Mudd Coll Claremont CA 91711 USA

ISBN: (纸本)9783319277028;9783319277004

Cameras provide a rich source of information while being passive, cheap and lightweight for small Unmanned Aerial Vehicles (UAVs). In this work we present the first implementation of receding horizon control, which is widely used in ground vehicles, with monocular vision as the only sensing mode for autonomous UAV flight in dense clutter. Two key contributions make this possible: novel coupling of perception and control via relevant and diverse, multiple interpretations of the scene around the robot, leveraging recent advances in machine learning to showcase anytime budgeted cost-sensitive feature selection, and fast non-linear regression for monocular depth prediction. We empirically demonstrate the efficacy of our novel pipeline via real world experiments of more than 2 kms through dense trees with an off-the-shelf quadrotor. Moreover our pipeline is designed to combine information from other modalities like stereo and lidar.

关键词： Ground vehicles

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Learning a Context-Dependent Switching Strategy for Robust Visual Odometry 10th

Learning a Context-Dependent Switching Strategy for Robust V...

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

作者： Holtz, Kristen Maturana, Daniel Scherer, Sebastian Carnegie Mellon Univ Inst Robot 5000 Forbes Ave Pittsburgh PA 15213 USA

ISBN: (纸本)9783319277028;9783319277004

Many applications for robotic systems require the systems to traverse diverse, unstructured environments. State estimation with Visual Odometry (VO) in these applications is challenging because there is no single algorithm that performs well across all environments and situations. The unique trade-offs inherent to each algorithm mean different algorithms excel in different environments. We develop a method to increase robustness in state estimation by using an ensemble of VO algorithms. The method combines the estimates by dynamically switching to the best algorithm for the current context, according to a statistical model of VO estimate errors. The model is a Random Forest regressor that is trained to predict the accuracy of each algorithm as a function of different features extracted from the sensory input. We evaluate our method in a dataset of consisting of four unique environments and eight runs, totaling over 25min of data. Our method reduces the mean translational relative pose error by 3.5% and the angular error by 4.3% compared to the single best odometry algorithm. Compared to the poorest performing odometry algorithm, our method reduces the mean translational error by 39.4% and the angular error by 20.1%.

关键词： State estimation

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AIST Humanoid robotics Challenge 16th

AIST Humanoid Robotics Challenge

引用

16th International Symposium on robotics Research (ISSR)

作者： Yokoi, Kazuhito Natl Inst Adv Ind Sci & Technol AIST Cent 21-1 Umezono Tsukuba 3058568 Japan

ISBN: (纸本)9783319288727;9783319288703

This paper presents the challenges assigned to humanoid robots by National Institute of advanced Industrial Science and Technology (AIST). Since the Ministry of Economy, Trade and Industry of Japan initiated a research and development (R&D) project on humanoid robotics, AIST has developed platforms for humanoid robotics research and conducted R&D on humanoid robots applications. Particular attention has been developed to the requirements of industries using the platforms. Following TEPCO's Fukushima Daiichi Nuclear Power Station accident in 2011, DARPA started the DARPA robotics Challenge (DRC) to promote innovation in robotic technology for disaster-response operations. In the DRC, participating robots are assigned a series of challenging tasks that indicate their suitability for disaster response. This paper presents AIST Humanoid Challenge related the DRC-selected tasks.

关键词： Anthropomorphic robots

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Towards Modeling Real-Time Trust in Asymmetric Human-Robot Collaborations 16th

Towards Modeling Real-Time Trust in Asymmetric Human-Robot C...

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16th International Symposium on robotics Research (ISSR)

作者： Xu, Anqi Dudek, Gregory McGill Univ Sch Comp Sci Montreal PQ Canada

ISBN: (纸本)9783319288727;9783319288703

We are interested in enhancing the efficiency of human-robot collaborations, especially in "supervisor-worker" settings where autonomous robots work under the supervision of a human operator. We believe that trust serves a critical role in modeling the interactions within these teams, and also in streamlining their efficiency. We propose an operational formulation of human-robot trust on a short interaction time scale, which is tailored to a practical tele-robotics setting. We also report on a controlled user study that collected interaction data from participants collaborating with an autonomous robot to perform visual navigation tasks. Our analyses quantify key correlations between real-time human-robot trust assessments and diverse factors, including properties of failure events reflecting causal trust attribution, as well as strong influences from each user's personality. We further construct and optimize a predictive model of users' trust responses to discrete events, which provides both insights on this fundamental aspect of real-time human-machine interaction, and also has pragmatic significance for designing trust-aware robot agents.

关键词： Efficiency

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