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

共 918 条记录，以下是151-160 订阅

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Admittance Control for Robotic Loading: Underground Field Trials with an LHD 10th

Admittance Control for Robotic Loading: Underground Field Tr...

引用

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

作者： Dobson, Andrew A. Marshall, Joshua A. Larsson, Johan Clearpath Robot Kitchener ON N2R 1H2 Canada Queens Univ Min Syst Lab Kingston ON K7L 3N6 Canada Atlas Copco Rock Drills AB Div Rocktec Automat SE-701 Orebro Sweden

ISBN: (纸本)9783319277028;9783319277004

In this paper we describe field trials of an admittance-based Autonomous Loading Controller (ALC) applied to a robotic Load-Haul-Dump (LHD) machine at an underground mine near Orebro, Sweden. The ALC was tuned and field tested by using a 14-tonne capacity Atlas Copco ST14 LHD mining machine in piles of fragmented rock, similar to those found in operational mines. Several relationships between the ALC parameters and our performance metrics were discovered through the described field tests. During these tests, the tuned ALC took 61% less time to load 39% more payload when compared to a manual operator. The results presented in this paper suggest that the ALC is more consistent than manual operators, and is also robust to uncertainties in the unstructured mine environment.

关键词： robotics

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Online Coverage of Planar Environments by a Battery Powered Autonomous Mobile Robot 11th

Online Coverage of Planar Environments by a Battery Powered ...

引用

11th Workshop on Algorithmic Foundations of robotics (WAFR)

作者： Shnaps, Iddo Rimon, Elon Technion Israel Inst Technol Dept Mech Engn IL-32000 Haifa Israel

ISBN: (纸本)9783319165943

This paper is concerned with online coverage of unknown planar environments by a mobile robot of size operating with a limited energy capacity battery. The battery capacity is represented by the path length that the robot can travel under a full battery charge. Starting at, the robot has to cover a planar environment containing unknown obstacles, and return to upon task completion. During task execution, the robot may return to at any time to recharge its battery. This paper first describes a battery powered offline coverage methodology, then introduces the battery powered coverage (BPC) algorithm that performs online battery powered coverage using position and local obstacle detection sensors. The performance of the BPC algorithm is measured by its competitiveness, determined by measuring the mobile robot's total online path length,, relative to the optimal offline solution. This paper establishes that the BPC algorithm has a competitive performance of. This paper additionally establishes a universal lower bound of over all online battery powered coverage algorithms. Execution example illustrates the usefulness of the BPC algorithm.

关键词： Battery powered coverage mobile robots

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An Overview of MIT-Olin's Approach in the AUVSI RobotX Competition 10th

An Overview of MIT-Olin's Approach in the AUVSI RobotX Compe...

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

作者： Anderson, Arthur Fischell, Erin Howe, Thom Miller, Tom Parrales-Salinas, Arturo Rypkema, Nick Barrett, David Benjamin, Michael Brennen, Alex DeFillipo, Michael Leonard, John J. Paull, Liam Schmidt, Henrik Wang, Nick Yaari, Alon MIT 77 Massachusetts Ave Cambridge MA 02139 USA Tufts Univ 419 Boston Ave Medford MA 02155 USA Olin Coll Olin Way Needham MA 02492 USA MIT Sea Grant 292 Main St Cambridge MA 02142 USA

ISBN: (纸本)9783319277028;9783319277004

The inaugural RobotX competition was held in Singapore in Oct. 2014. The purpose of the competition was to challenge teams to develop new strategies for tackling unique and important problems in marine robotics. The joint team from Massachusetts Institute of Technology (MIT) and Olin College was chosen as one of 15 competing teams from five nations (USA, South Korea, Japan, Singapore and Australia). The team received the surface vehicle platform, the WAM-V (Fig. 1) in Nov. 2013 and spent a year building the propulsion, electronic, sensing, and algorithmic capabilities required to complete the five tasks that included navigation, underwater pinger localization, docking, light sequence detection, and obstacle avoidance. Ultimately the MIT/Olin team narrowly won first place in a competitive field. This paper summarizes our approach to the tasks, as well as some lessons learned in the process. As a result of the competition, we have developed a new suite of open-source tools for feature detection and tracking, realtime shape detection from imagery, bearing-only target localization, and obstacle avoidance.

关键词： Robots

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Data Association for Semantic World Modeling from Partial Views 16th

Data Association for Semantic World Modeling from Partial Vi...

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16th International Symposium on robotics Research (ISSR)

作者： Wong, Lawson L. S. Kaelbling, Leslie Pack Lozano-Perez, Tomas MIT CSAIL 77 Massachusetts Ave Cambridge MA 02139 USA

ISBN: (纸本)9783319288727;9783319288703

Autonomous mobile-manipulation robots need to sense and interact with objects to accomplish high-level tasks such as preparing meals and searching for objects. To achieve such tasks, robots need semantic world models, defined as object-based representations of the world involving task-level attributes. In this work, we address the problem of estimating world models from semantic perception modules that provide noisy observations of attributes. Because attribute detections are sparse, ambiguous, and are aggregated across different viewpoints, it is unclear which attribute measurements are produced by the same object, so data association issues are prevalent. We present novel clustering-based approaches to this problem, which are more efficient and require less severe approximations compared to existing tracking-based approaches. These approaches are applied to data containing object type-and-pose detections from multiple viewpoints, and demonstrate comparable quality to the existing approach using a fraction of the computation time.

关键词： Semantics

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Decoupled Formal Synthesis for Almost Separable Systems with Temporal Logic Specifications 1

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

作者： Livingston, Scott C. Prabhakar, Pavithra CALTECH Pasadena CA 91125 USA IMDEA Software Inst Madrid Spain

ISBN: (数字)9784431558798

ISBN: (纸本)9784431558798;9784431558774

We consider the problem of synthesizing controllers automatically for distributed robots that are loosely coupled using a formal synthesis approach. Formal synthesis entails construction of game strategies for a discrete transition system such that the system under the strategy satisfies a specification, given for instance in linear temporal logic (LTL). The general problem of automated synthesis for distributed discrete transition systems suffers from state-space explosion because the combined state-space has size exponential in the number of subsystems. Motivated by multi-robot motion planning problems, we focus on distributed systems whose interaction is nearly decoupled, allowing the overall specification to be decomposed into specifications for individual subsystems and a specification about the joint system. We treat specifically reactive synthesis for the GR(1) fragment of LTL. Each robot is subject to a GR(1) formula, and a safety formula describes constraints on their interaction. We propose an approach wherein we synthesize strategies independently for each subsystem;then we patch the separate controllers around interaction regions such that the specification about the joint system is satisfied.

关键词： Reactive synthesis LTL Collision avoidance Motion planning

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Robust Autonomous Flight in Constrained and Visually Degraded Environments 10th

Robust Autonomous Flight in Constrained and Visually Degrade...

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

作者： Fang, Zheng Yang, Shichao Jain, Sezal Dubey, Geetesh Maeta, Silvio Roth, Stephan Scherer, Sebastian Zhang, Yu Nuske, Stephen Carnegie Mellon Univ Inst Robot 5000 Forbes Ave Pittsburgh PA 15213 USA Northeastern Univ Shenyang 110819 Liaoning Peoples R China Zhejiang Univ Hangzhou 310027 Zhejiang Peoples R China

ISBN: (纸本)9783319277028;9783319277004

This paper addresses the problem of autonomous navigation of a micro aerial vehicle (MAV) inside a constrained shipboard environment for inspection and damage assessment, which might be perilous or inaccessible for humans especially in emergency scenarios. The environment is GPS-denied and visually degraded, containing narrow passageways, doorways and small objects protruding from the wall. This makes existing 2D LIDAR, vision or mechanical bumper-based autonomous navigation solutions fail. To realize autonomous navigation in such challenging environments, we propose a fast and robust state estimation algorithm that fuses estimates from a direct depth odometry method and a Monte Carlo localization algorithm with other sensor information in an EKF framework. Then, an online motion planning algorithm that combines trajectory optimization with receding horizon control framework is proposed for fast obstacle avoidance. All the computations are done in real-time onboard our customized MAV platform. We validate the system by running experiments in different environmental conditions. The results of over 10 runs show that our vehicle robustly navigates 20 m long corridors only 1 m wide and goes through a very narrow doorway (66 cm width, only 4 cm clearance on each side) completely autonomously even when it is completely dark or full of light smoke.

关键词： Antennas

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Field and Service robotics 1st ed. 2016

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丛书名： springer tracts in advanced robotics

2016年

作者： David S. Wettergreen Timothy D. Barfoot

ISBN: (数字)9783319277028

ISBN: (纸本)9783319277004

This book contains the proceedings of the 10th FSR, (Field and Service robotics) which is the leading single-track conference on applications of robotics in challenging environments. The 10th FSR was held in Toronto, Canada from 23-26 June 2015. The book contains 42 full-length, peer-reviewed papers organized into a variety of topics: Aquatic, Vision, Planetary, Aerial, Underground, and Systems. The goal of the book and the conference is to report and encourage the development and experimental evaluation of field and service robots, and to generate a vibrant exchange and discussion in the community. Field robots are non-factory robots, typically mobile, that operate in complex and dynamic environments: on the ground (Earth or other planets), under the ground, underwater, in the air or in space. Service robots are those that work closely with humans to help them with their lives. The first FSR was held in Canberra, Australia, in 1997. Since that first meeting, FSR has been held roughly every two years, cycling through Asia, Americas, Europe.

关键词： robotics Robots Engineering.

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Adaptive Inter-Robot Trust for Robust Multi-Robot Sensor Coverage 16th

Adaptive Inter-Robot Trust for Robust Multi-Robot Sensor Cov...

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16th International Symposium on robotics Research (ISSR)

作者： Pierson, Alyssa Schwager, Mac Boston Univ Boston MA 02215 USA Stanford Univ Stanford CA 94305 USA

ISBN: (纸本)9783319288727;9783319288703

This paper proposes a new approach to both characterize inter-robot trust in multi-robot systems and adapt trust online in response to the relative performance of the robots. The approach is applied to a multi-robot coverage control scenario, in which a team of robots must spread out over an environment to provide sensing coverage. Adecentralized algorithm is designed to control the positions of the robots, while simultaneously adapting their trust weightings. Robots with higher quality sensors take charge of a larger region in the environment, while robots with lower quality sensors have their regions reduced. Using a Lyapunov-type proof, it is proven that the robots converge to locally optimal positions for sensing that are as good as if the robots' sensor qualities were known beforehand. The algorithm is demonstrated in Matlab simulations.

关键词： Multipurpose robots

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Personalizing Intelligent Systems and Robots with Human Motion Data 16th

Personalizing Intelligent Systems and Robots with Human Moti...

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16th International Symposium on robotics Research (ISSR)

作者： Venture, Gentiane Baddoura, Ritta Kawashima, Yuta Kawashima, Noritaka Yabuki, Takumi Tokyo Univ Agr & Technol 2-24-16 Nakacho Koganei Tokyo Japan INSERM Lyon France Natl Rehabil Ctr People Disabil Tokorozawa Saitama Japan

ISBN: (纸本)9783319288727;9783319288703

According to Merhabian, more than 90% of human-human communication is non-verbal when expressing affects and attitudes. Further studies have shown that a large proportion of non-verbal communication can be attributed to posture and to gesture. They communicate information about action: intent, meaning, as well as information about internal states such as affects. Emotional understanding is a key for satisfying and successful interaction between two or more humans, it must also be true for human-robot interaction. In this paper we explore the importance of non verbal information and communication, typically motion data, and how it can be used to develop and to personalize intelligent systems and robots. First, we present and discuss our findings on the strong correlation between what humans feel during an unannounced interaction with a humanoid robot and their movements and attitudes. Then, we propose a framework that uses not only the kinematics information of movements but also the dynamics. We use the direct measure of the dynamics when available. If not we propose to compute the dynamics from the kinematics, and use it to understand human motions. Finally, we discuss some developments and concrete applications in the field of health care and HRI.

关键词： Intelligent systems

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Distributed Path Planning for Collective Transport Using Homogeneous Multi-robot Systems 1

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

作者： Habibi, Golnaz Xie, William Jellins, Mathew McLurkin, James Rice Univ Dept Comp Sci Houston TX USA Univ Texas Austin Dept Comp Sci Austin TX 78712 USA Purdue Univ W Lafayette IN 47907 USA

ISBN: (数字)9784431558798

ISBN: (纸本)9784431558798;9784431558774

We present a scalable distributed path planning algorithm for transporting a large object through an unknown environment using a group of homogeneous robots. The robots are randomly scattered across the terrain and collectively sample the obstacles in the environment in a distributed fashion. Given this sampling and the dimensions of the bounding box of the object, the robots construct a distributed configuration space. We then use a variant of the distributed Bellman-Ford algorithm to construct a shortest-path tree using a custom cost function from the goal location to all other connected robots. The cost function encompasses the work required to rotate and translate the object in addition to an extra control penalty to navigate close to obstacles. Our approach sets up a framework that allows the user to balance the trade-off between the safety of the path and the mechanical work required to move the object. The path is optimal given the sampling of the robots and user input parameters. We implemented our algorithm in both simulated and real-world environments. Our approach is robust to the size and shape of the object and adapts to dynamic environments.

关键词： Path planning Distributed algorithm Distributed bellman-ford algorithm Multi-robot system Collective transport

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