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

共 918 条记录，以下是131-140 订阅

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Manifold Representations for State Estimation in Contact Manipulation 16th

Manifold Representations for State Estimation in Contact Man...

引用

16th International Symposium on robotics Research (ISSR)

作者： Koval, Michael C. Pollard, Nancy S. Srinivasa, Siddhartha S. Carnegie Mellon Univ Inst Robot Pittsburgh PA 15213 USA

ISBN: (纸本)9783319288727;9783319288703

We investigate the problem of using contact sensors to estimate the configuration of an object during manipulation. Contact sensing is very discriminative by nature and, therefore, the set of object configurations that activate a sensor constitutes a lower-dimensional manifold in the configuration space of the object. This causes conventional state estimation methods, such as particle filters, to perform poorly during periods of contact. The manifold particle filter addresses this problem by sampling particles directly from the contact manifold. When it exists, we can sample these particles from an analytic representation of the contact manifold. We present two alternative sample-based contact manifold representations that make no assumptions about the object-hand geometry: rejection sampling and trajectory rollouts. We discuss theoretical considerations behind these three representations and compare their performance in a suite of simulation experiments. We show that all three representations enable the manifold particle filter to outperform the conventional particle filter. Additionally, we show that the trajectory rollout representation performs similarly to the analytic method despite the rollout method's relative simplicity.

关键词： State estimation

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Return to Antikythera: Multi-session SLAM Based AUV Mapping of a First Century BC Wreck Site 10th

Return to Antikythera: Multi-session SLAM Based AUV Mapping ...

引用

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

作者： Williams, Stefan B. Pizarro, Oscar Foley, Brendan Univ Sydney ACFR Sydney NSW 2006 Australia Woods Hole Oceanog Inst Woods Hole MA 02543 USA

ISBN: (纸本)9783319277028;9783319277004

This paper describes an expedition to map a first century B.C. ship wreck off the coast of the Greek island of Antikythera using an Autonomous Underwater Vehicle (AUV) equipped with a high-resolution stereo imaging system. The wreck, first discovered in 1900, has yielded a wealth of important historical artefacts from two previous interventions, including the renowned Antikythera mechanism. The deployments described in this paper aimed to map the current state of the wreck site prior to further excavation. Over the course of 10 days of operation, the AUV completed multiple dives over the main wreck site and other nearby targets of interest. This paper describes the motivation for returning to the wreck and producing a detailed map, gives an overview of the techniques used for multi-session Simultaneous Localisation and Mapping (SLAM) to stitch data from two dives into a single, composite map of the site and presents preliminary results of the mapping exercise.

关键词： Autonomous underwater vehicles

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CoPilot: Autonomous Doorway Detection and Traversal for Electric Powered Wheelchairs 10th

CoPilot: Autonomous Doorway Detection and Traversal for Elec...

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

作者： Panzarella, Tom Schwesinger, Dylan Spletzer, John Love Pk Robot LLC 2025 Washington AveSuite 217 Philadelphia PA 19146 USA Lehigh Univ 27 Mem Dr West Bethlehem PA 18051 USA

ISBN: (纸本)9783319277028;9783319277004

In this paper we introduce CoPilot, an active driving aid that enables semi-autonomous, cooperative navigation of an electric powered wheelchair (EPW) for automated doorway detection and traversal. The system has been cleanly integrated into a commercially available EPW, and demonstrated with both joystick and head array interfaces. Leveraging the latest in 3D perception systems, we developed both feature and histogram-based approaches to the doorway detection problem. When coupled with a sample-based planner, success rates for automated doorway traversal approaching 100% were achieved.

关键词： Wheelchairs

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Online Loop-Closure Detection via Dynamic Sparse Representation 10th

Online Loop-Closure Detection via Dynamic Sparse Representat...

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

作者： Shakeri, Moein Zhang, Hong Univ Alberta Dept Comp Sci Edmonton AB Canada

ISBN: (纸本)9783319277028;9783319277004

Visual loop closure detection is an important problem in visual robot navigation. Successful solutions to visual loop closure detection are based on image matching between the current view and the map images. In order to obtain a solution that is scalable to large environments involving thousands or millions of images, the efficiency of a loop closure detection algorithm is critical. Recently people have proposed to apply l(1)-minimization methods to visual loop closure detection in which the problem is cast as one of obtaining a sparse representation of the current view in terms of map images. The proposed solution, however, is insufficient with a time complexity worse than linear search. In this paper, we present a solution that overcomes the inefficiency by employing dynamic algorithms in l(1)-minimization. Our solution exploits the sequential nature of the loop closure detection problem. As a result, our proposed algorithm is able to obtain a performance that is an order of magnitude more efficient than the existing l(1)-minimization based solution. We evaluate our algorithm on publicly available visual SLAM datasets to establish its accuracy and efficiency.

关键词： Efficiency

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Design, Control, and Experimentation of Internally-Actuated Rovers for the Exploration of Low-Gravity Planetary Bodies 10th

Design, Control, and Experimentation of Internally-Actuated ...

引用

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

作者： Hockman, B. Frick, A. Nesnas, I. A. D. Pavone, M. Stanford Univ Dept Aeronaut & Astronaut Project PI Stanford CA 94305 USA CALTECH Jet Prop Lab Pasadena CA USA

ISBN: (纸本)9783319277028;9783319277004

In this paper we discuss the design, control, and experimentation of internally-actuated rovers for the exploration of low-gravity (micro-g to milli-g) planetary bodies, such as asteroids, comets, or small moons. The actuation of the rover relies on spinning three internal flywheels, which allows all subsystems to be packaged in one sealed enclosure and enables the platform to be minimalistic, thereby reducing its cost. By controlling the flywheels' spin rates, the rover is capable of achieving large surface coverage by attitude-controlled hops, fine mobility by tumbling, and coarse instrument pointing by changing orientation relative to the ground. We discuss the dynamics of such rovers, their control, and key design features (e.g., flywheel design and orientation, geometry of external spikes, and system engineering aspects). The theoretical analysis is validated on a first-of-a-kind 6 degree-of-freedom (DoF) microgravity test bed, which consists of a 3 DoF gimbal attached to an actively controlled gantry crane.

关键词： Rovers

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Distributed Online Patrolling with Multi-agent Teams of Sentinels and Searchers 1

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

作者： Basilico, Nicola Chung, Timothy H. Carpin, Stefano Univ Milan Milan Italy Naval Postgrad Sch Monterey CA USA Univ Calif Merced CA USA

ISBN: (数字)9784431558798

ISBN: (纸本)9784431558798;9784431558774

We consider the problem of patrolling an assigned area using a team of heterogeneous robots consisting of sentinels and searchers in the presence of stochastic arrivals of attacks. Sentinels and searchers operate using a different sensor model featuring a tradeoff between accuracy and the sensed area. Using an approach based on queuing theory, we derive an accurate analytic characterization of the patrolling performance that can be used to predict the behavior of a given configuration or inform the composition of a team in order to meet a desired target performance. Extensive simulation results corroborate our theoretical findings.

关键词： Surveillance Variable resolution search Cooperative robots

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Recursive Inference for Prediction of Objects in Urban Environments 16th

Recursive Inference for Prediction of Objects in Urban Envir...

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16th International Symposium on robotics Research (ISSR)

作者： Cadena, Cesar Kosecka, Jana Univ Adelaide Adelaide SA Australia George Mason Univ Fairfax VA 22030 USA

ISBN: (纸本)9783319288727;9783319288703

Future advancements in robotic navigation and mapping rest to a large extent on robust, efficient and more advanced semantic understanding of the surrounding environment. The existing semantic mapping approaches typically consider small number of semantic categories, require complex inference or large number of training examples to achieve desirable performance. In the proposed work we present an efficient approach for predicting locations of generic objects in urban environments by means of semantic segmentation of a video into object and non-object categories. We exploit widely available exemplars of non-object categories (such as road, buildings, vegetation) and use geometric cues which are indicative of the presence of object boundaries to gather the evidence about objects regardless of their category. We formulate the object/non-object semantic segmentation problem in the Conditional Random Field framework, where the structure of the graph is induced by a minimum spanning tree computed over a 3D point cloud, yielding an efficient algorithm for an exact inference. The chosen 3D representation naturally lends itself for on-line recursive belief updates with a simple soft data association mechanism. We carry out extensive experiments on videos of urban environments acquired by a moving vehicle and showquantitatively and qualitatively the benefits of our proposal.

关键词： Semantics

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Detection and Notification of Failures in Distributed Component-Based Robot Applications Using Blackboard Architecture 1

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

作者： Shin, Michael Kang, Taeghyun Kim, Sunghoon Texas Tech Univ Dept Comp Sci Lubbock TX 79409 USA Wake Forest Univ Dept Comp Sci Winston Salem NC 27109 USA Elect & Telecommun Res Inst Intelligent Robot Control Res Daejeon South Korea

ISBN: (数字)9784431558798

ISBN: (纸本)9784431558798;9784431558774

This paper describes detection and notification of component failures in distributed component-based robot applications using the blackboard architecture. The blackboard architecture monitors each component of robot applications in order to detect component failures at runtime and it identifies the causes of failures. Using the dependency relationships between components, the blackboard architecture performs impact analysis between components so that it determines the scope of failure notification in the components of a distributed robot application. The notification messages delivered to components can trigger actions against the failures if robot application developers have implemented the actions along with application functions. The prototype of blackboard architecture has been implemented for the Microsoft robotics Developer Studio (MSRDS) environment, and it has been applied to the Unmanned Ground Vehicle (UGV) application implemented on the simulator as a case study.

关键词： Detection Notification Blackboard architecture Robot component Impact analysis

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An Online POMDP Solver for Uncertainty Planning in Dynamic Environment 16th

An Online POMDP Solver for Uncertainty Planning in Dynamic E...

引用

16th International Symposium on robotics Research (ISSR)

作者： Kurniawati, Hanna Yadav, Vinay Univ Queensland Sch Informat Technol & Elect Engn Brisbane Qld Australia Indian Inst Technol Dept Elect Engn Kharagpur W Bengal India

ISBN: (纸本)9783319288727;9783319288703

Motion planning under uncertainty is important for reliable robot operations in uncertain and dynamic environments. Partially Observable Markov Decision Process (POMDP) is a general and systematic framework for motion planning under uncertainty. To cope with dynamic environment well, we often need to modify the POMDP model during runtime. However, despite recent tremendous advances in POMDP planning, most solvers are not fast enough to generate a good solution when the POMDP model changes during runtime. Recent progress in online POMDP solvers have shown promising results. However, most online solvers are based on replanning, which recompute a solution from scratch at each step, discarding any solution that has been computed so far, and hence wasting valuable computational resources. In this paper, we propose a new online POMDP solver, called Adaptive Belief Tree (ABT), that can reuse and improve existing solution, and update the solution as needed whenever the POMDP model changes. Given enough time, ABT converges to the optimal solution of the current POMDP model in probability. Preliminary results on three distinct robotics tasks in dynamic environments are promising. In all test scenarios, ABT generates similar or better solutions faster than the fastest online POMDP solver today;using an average of less than 50ms of computation time per step.

关键词： Motion planning

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Beyond a Shadow of a Doubt: Place Recognition with Colour-Constant Images 10th

Beyond a Shadow of a Doubt: Place Recognition with Colour-Co...

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

作者： MacTavish, Kirk Paton, Michael Barfoot, Timothy D. Univ Toronto Inst Aerosp Studies 4925 Dufferin St Toronto ON M3H 5T6 Canada

ISBN: (纸本)9783319277028;9783319277004

Colour-constant images have been shown to improve visual navigation taking place over extended periods of time. These images use a colour space that aims to be invariant to lighting conditions-a quality that makes them very attractive for place recognition, which tries to identify temporally distant image matches. Place recognition after extended periods of time is especially useful for SLAM algorithms, since it bounds growing odometry errors. We present results from the FAB-MAP 2.0 place recognition algorithm, using colour-constant images for the first time, tested with a robot driving a 1 km loop 11 times over the course of several days. Computation can be improved by grouping short sequences of images and describing them with a single descriptor. Colour-constant images are shown to improve performance without a significant impact on computation, and the grouping strategy greatly speeds up computation while improving some performance measures. These two simple additions contribute robustness and speed, without modifying FAB-MAP 2.0.

关键词： Robots

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