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

共 918 条记录，以下是171-180 订阅

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Experimental Analysis of Receding Horizon Planning Algorithms for Marine Monitoring 10th

Experimental Analysis of Receding Horizon Planning Algorithm...

引用

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

作者： Yoo, Soo-Hyun Stuntz, Andrew Zhang, Yawei Rothschild, Robert Hollinger, Geoffrey A. Smith, Ryan N. Oregon State Univ Corvallis OR 97331 USA Ft Lewis Coll Durango CO 81301 USA

ISBN: (纸本)9783319277028;9783319277004

Autonomous surface vehicles (ASVs) are becoming more widely used in environmental monitoring applications. Due to the limited duration of these vehicles, algorithms need to be developed to save energy and maximize monitoring efficiency. This paper compares receding horizon path planning models for their effectiveness at collecting usable data in an aquatic environment. An adaptive receding horizon approach is used to plan ASV paths to collect data. Aproblem that often troubles conventional receding horizon algorithms is the path planner becoming trapped at local optima. Our proposed Jumping Horizon (J-Horizon) algorithm planner improves on the conventional receding horizon algorithm by jumping out of local optima. We demonstrate that the J-Horizon algorithm collects data more efficiently than commonly used lawnmower patterns, and we provide a proof-of-concept field implementation on an ASV with a temperature monitoring task in a lake.

关键词： Motion planning

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Coordination of Modular Robots by Means of Topology Discovery and Leader Election: Improvement of the Locomotion Case 1

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

作者： Baca, Jose Woosley, Bradley Dasgupta, Prithviraj Dutta, Ayan Nelson, Carl Univ Nebraska Dept Comp Sci Omaha NE 68182 USA Univ Nebraska Dept Mech & Mat Engn Lincoln NE USA

ISBN: (数字)9784431558798

ISBN: (纸本)9784431558798;9784431558774

An important aspect of successful locomotion in Modular Self-reconfigurable Robots (MSRs) is to be able to autonomously coordinate the movement of the modules so that the robot can move towards the goal. We consider the locomotion problem in a partially distributed setting where multiple MSRs (disconnected groups of connected modules) are within the communication range of each other and modules do not have a priori information about other modules that belong to the same configuration. Coordinating the movement of modules in such a setting becomes a challenging problem because of the limited perception and computation resources available on each module. To address these problems, we propose a strategy that first combines neighbor-to-neighbor message passing techniques via infrared and wireless communication to enable each module to autonomously determine the set of modules that belong to the same MSR. The strategy then uses a distributed leader election algorithm to identify the leader, which thereafter coordinates the actions of the modules in its configuration. We have verified the performance of our approach using an accurately simulated model of the ModRED MSR within the Webots simulator and in the embedded system of ModRED (This work was done as part of the ModRED project which is supported by NASA EPSCoR grant no. NNH11ZHA003C.). It is shown that our strategy can successfully determine the set of connected modules, elect a leader for each configuration and coordinate the locomotion of MSRs for different numbers of modules.

关键词： Modular robots Coordination Locomotion

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Beyond Geometric Path Planning: Learning Context-Driven Trajectory Preferences via Sub-optimal Feedback 16th

Beyond Geometric Path Planning: Learning Context-Driven Traj...

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16th International Symposium on robotics Research (ISSR)

作者： Jain, Ashesh Sharma, Shikhar Saxena, Ashutosh Cornell Univ Dept Comp Sci Ithaca NY 14853 USA Indian Inst Technol Kanpur Uttar Pradesh India

ISBN: (纸本)9783319288727;9783319288703

We consider the problem of learning preferences over trajectories for mobile manipulators such as personal robots and assembly line robots. The preferences we learn are more intricate than those arising from simple geometric constraints on robot's trajectory, such as distance of the robot from human etc. Our preferences are rather governed by the surrounding context of various objects and human interactions in the environment. Such preferences makes the problem challenging because the criterion of defining a good trajectory now varies with the task, with the environment and across the users. Furthermore, demonstrating optimal trajectories (e.g., learning from expert's demonstrations) is often challenging and non-intuitive on high degrees of freedom manipulators. In this work, we propose an approach that requires a non-expert user to only incrementally improve the trajectory currently proposed by the robot. We implement our algorithm on two high degree-of-freedom robots, PR2 and Baxter, and present three intuitive mechanisms for providing such incremental feedback. In our experimental evaluation we consider two context rich settings-household chores and grocery store checkout-and show that users are able to train the robot with just a few feedbacks (taking only a few minutes). Despite receiving sub-optimal feedback from non-expert users, our algorithm enjoys theoretical bounds on regret that match the asymptotic rates of optimal trajectory algorithms.

关键词： Trajectories

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Decentralized Multi-agent Path Selection Using Minimal Information 1

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

作者： Kimmel, Andrew Bekris, Kostas Rutgers State Univ Piscataway NJ USA

ISBN: (数字)9784431558798

ISBN: (纸本)9784431558798;9784431558774

This work studies conflict avoidance between moving, non-communicating agents with minimum sensing information. While safety can be provided by reactive obstacle avoidance methods for holonomic systems, deadlock avoidance requires reasoning over different homotopic paths in cluttered scenes. A method to compute the "interaction cost" of a path is proposed, which considers only the neighboring agents' observed positions. Minimizing the interaction cost in a prototypical challenge with two agents moving through two corridors from opposing sides guarantees the selection of non-conflicting paths. More complex scenes, however, are more challenging. This leads to a study of alternatives for decentralized path selection. Simulations indicate that following a "minimum-conflict" path given the other agents' observed positions provides deadlock avoidance. A scheme that selects between the minimum-conflict path and a set of shortest paths given their interaction cost improves path quality while still achieving deadlock avoidance. Finally, learning to select between the minimum-conflict and one of the shortest paths allows agents to be adaptive to the behavior of their neighbors and can be achieved using regret minimization.

关键词： Multi-agent Decentralized Coordination Path planning

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Scaling up Gaussian Belief Space Planning Through Covariance-Free Trajectory Optimization and Automatic Differentiation 11th

Scaling up Gaussian Belief Space Planning Through Covariance...

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11th Workshop on Algorithmic Foundations of robotics (WAFR)

作者： Patil, Sachin Kahn, Gregory Laskey, Michael Schulman, John Goldberg, Ken Abbeel, Pieter Univ Calif Berkeley Berkeley CA 94720 USA

ISBN: (纸本)9783319165950;9783319165943

Belief space planning provides a principled framework to compute motion plans that explicitly gather information from sensing, as necessary, to reduce uncertainty about the robot and the environment. We consider the problem of planning in Gaussian belief spaces, which are parameterized in terms of mean states and covariances describing the uncertainty. In this work, we show that it is possible to compute locally optimal plans without including the covariance in direct trajectory optimization formulations of the problem. As a result, the dimensionality of the problem scales linearly in the state dimension instead of quadratically, as would be the case if we were to include the covariance in the optimization. We accomplish this by taking advantage of recent advances in numerical optimal control that include automatic differentiation and state of the art convex solvers. We show that the running time of each optimization step of the covariance-free trajectory optimization is O(n(3)T), where n is the dimension of the state space and T is the number of time steps in the trajectory. We present experiments in simulation on a variety of planning problems under uncertainty including manipulator planning, estimating unknown model parameters for dynamical systems, and active simultaneous localization and mapping (active SLAM). Our experiments suggest that our method can solve planning problems in 100 dimensional state spaces and obtain computational speedups of 400x over related trajectory optimization methods.

关键词： Dynamical systems

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The Lion and Man Game on Convex Terrains 11th

The Lion and Man Game on Convex Terrains

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11th Workshop on Algorithmic Foundations of robotics (WAFR)

作者： Noori, Narges Isler, Volkan Univ Minnesota Dept Comp Sci & Engn Minneapolis MN USA

ISBN: (纸本)9783319165950;9783319165943

We study the lion-and-man game in which a lion (the pursuer) tries to capture a man (the evader). The players have equal speed and they can observe each other at all times. In this paper, we study the game on surfaces of convex terrains. We show that the lion can capture the man in finite number of steps determined by the terrain geometry.

关键词： Computers

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Posture Reconfiguration and Navigation Maneuvers on a Wheel-Legged Hydraulic Robot 9

Posture Reconfiguration and Navigation Maneuvers on a Wheel-...

引用

Field and Service robotics

作者： Wong, Christopher Yee Turker, Korhan Sharf, Inna Beckman, Blake McGill Univ Dept Mech Engn Montreal PQ Canada Def Res & Dev Canada Suffield Res Ctr Autonomous Syst Operat Ground Grp Suffield AB Canada

ISBN: (纸本)9783319074887;9783319074870

Wheel-legged hybrid robots are known to be extremely capable in negotiating different types of terrain as they combine the efficiency of conventional wheeled platforms and the rough terrain capabilities of legged platforms. The Micro-Hydraulic Toolkit (MHT), developed by Defense Research and Development Canada at the Suffield Research Centre, is one such quadruped hybrid robot. MHT's relatively small size, mobility, actuation and locomotion types fill a gap in military unmanned ground vehicles (UGVs). Previously, a velocity-level closed loop inverse kinematics controller had been developed and tested in simulation on a detailed physics-based model of the MHT in LMS Virtual. LabMotion. The controller was employed to generate a variety of posture reconfiguration maneuvers, such as achieving minimum ormaximum chassis height at specific wheel separations. In this paper, the aforementioned inverse kinematics controller was adapted to function on the physical MHT. Several test maneuvers, including chassis height and pitch reconfiguration and uneven terrain navigation maneuvers, were implemented on the MHT and the robot's performance was evaluated.

关键词： Chassis

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Kinodynamic RRTs with Fixed Time Step and Best-Input Extension Are Not Probabilistically Complete 11th

Kinodynamic RRTs with Fixed Time Step and Best-Input Extensi...

引用

11th Workshop on Algorithmic Foundations of robotics (WAFR)

作者： Kunz, Tobias Stilman, Mike Georgia Inst Technol Atlanta GA 30332 USA

ISBN: (纸本)9783319165950;9783319165943

RRTs are a popular method for kinodynamic planning that many consider to be probabilistically complete. However, different variations of the RRT algorithm exist and not all of them are probabilistically complete. The tree can be extended using a fixed or variable time step. The input can be chosen randomly or the best input can be chosen such that the newchild node is as close as possible to the sampled state according to the used distance metric. It has been shown that for finite input sets an RRT using a fixed step size with a randomly selected input is probabilistically complete. However, this variant is uncommon since it is less efficient. We prove that the most common variant of choosing the best input in combination with a fixed time step is not probabilistically complete.

关键词： Computers

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Decidability of Robot Manipulation Planning: Three Disks in the Plane 11th

Decidability of Robot Manipulation Planning: Three Disks in ...

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11th Workshop on Algorithmic Foundations of robotics (WAFR)

作者： Vendittelli, Marilena Laumond, Jean-Paul Mishra, Bud Univ Roma La Sapienza Piazzale Aldo Moro 5 I-00185 Rome Italy CNRS LAAS F-31077 Toulouse France NYU Courant Inst New York NY USA

ISBN: (纸本)9783319165950;9783319165943

This paper considers the problem of planning collision-free motion of three disks in the plane. One of the three disks, the robot, can autonomously translate in the plane, the other two move only when in contact with the robot. This represents the abstract formulation of a manipulation planning problem. Despite the simplicity of the formulation, the decidability of the problem had remained unproven so far. We prove that the problem is decidable, i.e., there exists an exact algorithm that decides whether a solution exists in finite time.

关键词： Computability and decidability

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Autonomous Aerial Water Sampling 9

Autonomous Aerial Water Sampling

引用

Field and Service robotics

作者： Ore, John-Paul Elbaum, Sebastian Burgin, Amy Zhao, Baoliang Detweiler, Carrick Univ Nebraska Comp Sci & Engn Lincoln NE 68588 USA Univ Nebraska Sch Nat Resources Lincoln NE USA Univ Nebraska Mech & Mat Engn Lincoln NE USA

ISBN: (纸本)9783319074887;9783319074870

Obtaining spatially separated, high-frequency water samples from rivers and lakes is critical to enhance our understanding and effective management of fresh water resources. In this paper we present an aerial water sampler and verify the system in field experiments. The aerial water sampler has the potential to vastly increase the speed and range at which scientists obtain water samples while reducing cost and effort. The water sampling system includes: 1) a mechanism to capture three 20 ml samples per mission;2) sensors and algorithms for safe navigation and altitude approximation over water;and 3) software components that integrate and analyze sensor data, control the vehicle, and drive the sampling mechanism. In this paper we validate the system in the lab, characterize key sensors, and present results of outdoor experiments. We compare water samples from local lakes obtained by our system to samples obtained by traditional sampling techniques. We find that most water properties are consistent between the two techniques. These experiments show that despite the challenges associated with flying precisely over water, it is possible to quickly obtain water samples with an Unmanned Aerial Vehicle (UAV).

关键词： Antennas

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