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

共 918 条记录，以下是201-210 订阅

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Laser-Radar Data Fusion with Gaussian Process Implicit Surfaces 9

Laser-Radar Data Fusion with Gaussian Process Implicit Surfa...

引用

Field and Service robotics

作者： Gerardo-Castro, Marcos P. Peynot, Thierry Ramos, Fabio Univ Sydney ACFR Sydney NSW 2006 Australia Univ Sydney ACFR Sch Informat Technol Sydney NSW 2006 Australia

ISBN: (纸本)9783319074887;9783319074870

This work considers the problem of building high-fidelity 3D representations of the environment from sensor data acquired by mobile robots. Multi-sensor data fusion allows for more complete and accurate representations, and for more reliable perception, especially when different sensing modalities are used. In this paper, we propose a thorough experimental analysis of the performance of 3D surface reconstruction from laser and mm-wave radar data using Gaussian Process Implicit Surfaces (GPIS), in a realistic field robotics scenario. We first analyse the performance of GPIS using raw laser data alone and raw radar data alone, respectively, with different choices of covariance matrices and different resolutions of the input data. We then evaluate and compare the performance of two different GPIS fusion approaches. The first, state-of-the-art approach directly fuses raw data from laser and radar. The alternative approach proposed in this paper first computes an initial estimate of the surface from each single source of data, and then fuses these two estimates. We show that this method outperforms the state of the art, especially in situations where the sensors react differently to the targets they perceive.

关键词： Covariance matrix

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Resolution-Exact Algorithms for Link Robots 11th

Resolution-Exact Algorithms for Link Robots

引用

11th Workshop on Algorithmic Foundations of robotics (WAFR)

作者： Luo, Zhongdi Chiang, Yi-Jen Lien, Jyh-Ming Yap, Chee NYU Dept Comp Sci New York NY USA NYU Dept Comp Sci & Engn Brooklyn NY USA George Mason Univ Dept Comp Sci Fairfax VA 22030 USA

ISBN: (纸本)9783319165950;9783319165943

Motion planning is a major topic in robotics. Divergent paths have been taken by practical roboticists and theoretical motion planners. Our goal is to produce algorithms that are practical and have strong theoretical guarantees. Recently, we have proposed a subdivision approach based on soft predicates Wang, C., Chiang, Y.-J., Yap, C.: On soft predicates in subdivision motion planning. In: 29th ACM Symposium on Computational Geometry (SoCG'13), pp. 349-358 (2013). To appear CGTA, Special Issue for SoCG' 13 [20], but with a new notion of correctness called resolution-exactness. Unlike mos ques for planar link robots. The technical contributions of this paper are the design of soft predicates for link robots, a novel "T/R splitting method" for subdivision, and feature-based search strategies. The T/R idea is to give primacy to the translational (T) components, and perform splitting of rotational components (R) only at the leaves of a subdivision tree. We implemented our algorithm for a 2-link robot with 4 degrees of freedom (DOFs). Our implementation achieves real-time performance on a variety of nontrivial scenarios. For comparison, our method outperforms sampling-based methods significantly. We extend our 2-link planner to thick link robots with little impact on performance. Note that there are no known exact algorithms for thick link robots.

关键词： Exact algorithms Subdivision algorithms Motion planning Soft predicates Resolution-exact algorithms Link robots

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Navigation of Distinct Euclidean Particles via Hierarchical Clustering 11th

Navigation of Distinct Euclidean Particles via Hierarchical ...

引用

11th Workshop on Algorithmic Foundations of robotics (WAFR)

作者： Arslan, Omur Guralnik, Dan P. Koditschek, Daniel E. Univ Penn Dept Elect & Syst Engn Philadelphia PA 19104 USA

ISBN: (纸本)9783319165950;9783319165943

We present a centralized online (completely reactive) hybrid navigation algorithm for bringing a swarm of n perfectly sensed and actuated point particles in Euclidean d space (for arbitrary n and d) to an arbitrary goal configuration with the guarantee of no collisions along the way. Our construction entails a discrete abstraction of configurations using cluster hierarchies, and relies upon two prior recent constructions: (i) a family of hierarchy-preserving control policies and (ii) an abstract discrete dynamical system for navigating through the space of cluster hierarchies. Here, we relate the (combinatorial) topology of hierarchical clusters to the (continuous) topology of configurations by constructing "portals"-open sets of configurations supporting two adjacent hierarchies. The resulting online sequential composition of hierarchy-invariant swarming followed by discrete selection of a hierarchy "closer" to that of the destination along with its continuous instantiation via an appropriate portal configuration yields a computationally effective construction for the desired navigation policy.

关键词： Multi-agent coordination Integrated planning and control Swarm robotics Hierarchical formation

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Experiments on Stereo Visual Odometry in Feature-Less Volcanic Fields 9

Experiments on Stereo Visual Odometry in Feature-Less Volcan...

引用

Field and Service robotics

作者： Otsu, Kyohei Otsuki, Masatsugu Kubota, Takashi Univ Tokyo Bunkyo Ku 7-3-1 Hongo Tokyo Japan Japan Aerosp Explorat Agcy Inst Space & Astronaut Sci Chuo Ku Sagamihara Kanagawa Japan

ISBN: (纸本)9783319074887;9783319074870

This paper describes a stereo visual odometry system for volcanic fields which lack visual features on the ground. There are several technical problems in untextured terrain including the diversity of terrain appearance, the lack of well-tracked features on surfaces, and the limited computational resources of onboard computers. This paper tries to address these problems and enable efficient and accurate visual localization independently of terrain appearance. Several key techniques are presented including a framework for terrain adaptive feature detection and a motion estimation method using fewer feature points. Field experiments have been conducted in volcanic fields for validation and evaluation of the system effectiveness and efficiency.

关键词： Motion estimation

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Predicting Terrain Traversability from Thermal Diffusivity 9

Predicting Terrain Traversability from Thermal Diffusivity

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Field and Service robotics

作者： Cunningham, Chris Wong, Uland Peterson, Kevin M. Whittaker, William L. Red Carnegie Mellon Univ Inst Robot 5000 Forbes Ave Pittsburgh PA 15213 USA Astrobot Technol Inc Pittsburgh PA 15222 USA

ISBN: (纸本)9783319074887;9783319074870

This paper presents a method to predict soil traversability by estimating the thermal diffusivity of terrain using a moving, continuous-wave laser. This method differentiates between different densities of the samematerial, which vision-based methods alone cannot achieve. The bulk density of a granular material has a significant effect on both its mechanical behavior and its thermal properties. This approach fits the thermal response as effected by a laser to an analytical model that is dependent on thermal diffusivity. Experimental soil strength measurements validate that thermal diffusivity is a predictor of traversability for a given material.

关键词： Continuous wave lasers

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Outdoor Flight Testing of a Pole Inspection UAV Incorporating High-speed Vision 9

Outdoor Flight Testing of a Pole Inspection UAV Incorporatin...

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Field and Service robotics

作者： Sa, Inkyu Hrabar, Stefan Corke, Peter Queensland Univ Technol Brisbane Qld Australia CSIRO Computat Informat Brisbane Qld Australia

ISBN: (纸本)9783319074887;9783319074870

We present a pole inspection system for outdoor environments comprising a high-speed camera on a vertical take-off and landing (VTOL) aerial platform. The pole inspection task requires a vehicle to fly close to a structure while maintaining a fixed stand-off distance from it. Typical GPS errors make GPS-based navigation unsuitable for this task however. When flying outdoors a vehicle is also affected by aerodynamics disturbances such as wind gusts, so the onboard controller must be robust to these disturbances in order to maintain the stand-off distance. Two problems must therefor be addressed: fast and accurate state estimation without GPS, and the design of a robust controller. We resolve these problems by a) performing visual + inertial relative state estimation and b) using a robust line tracker and a nested controller design. Our state estimation exploits high-speed camera images (100Hz) and 70Hz IMU data fused in an Extended Kalman Filter (EKF). We demonstrate results from outdoor experiments for pole-relative hovering, and pole circumnavigation where the operator provides only yaw commands. Lastly, we show results for image-based 3D reconstruction and texture mapping of a pole to demonstrate the usefulness for inspection tasks.

关键词： Poles

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Cluster-Based SJPDAFs for Classification and Tracking of Multiple Moving Objects 9

Cluster-Based SJPDAFs for Classification and Tracking of Mul...

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Field and Service robotics

作者： Hatao, Naotaka Kagami, Satoshi AIST Koto Ku 2-3-26 Aomi Tokyo Japan

ISBN: (纸本)9783319074887;9783319074870

This paper describes a method for classifying and tracking multiple moving objects with a laser range finder (LRF). As moving objects are tracked in the framework of sample-based joint probabilistic data association filters (SJPDAFs), the proposed method is robust against occlusions or false segmentation of LRF scans. It divides tracking targets and corresponding LRF segments into clusters and able to classify each cluster as a car or a group of pedestrians. In addition, it can correct false segmentation of LRF scans. We implemented the proposed method and obtained experimental results demonstrating its effectiveness in outdoor environments and crowded indoor environments.

关键词： Range finders

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Coalition Formation Games for Dynamic Multirobot Tasks 11th

Coalition Formation Games for Dynamic Multirobot Tasks

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11th Workshop on Algorithmic Foundations of robotics (WAFR)

作者： Bayram, Haluk Bozma, H. Isil Bogazici Univ Dept Elect & Elect Engn Intelligent Syst Lab TR-34342 Istanbul Turkey

ISBN: (纸本)9783319165950;9783319165943

This paper studies the problem of forming coalitions for dynamic tasks in multirobot systems. As robots-either individually or in groups-encounter new tasks for which individual or group resources do not suffice, robot coalitions that are collectively capable of meeting these requirements need to be formed. We propose an approach where such tasks are reported to a task coordinator that is responsible for coalition formation. The novelty of this approach is that the process of determining these coalitions is modeled as a coalition formation game where groups of robots are evaluated with respect to resources and cost. As such, the resulting coalitions are ensured so that no group of robots has a viable alternative to staying within their assigned coalition. The newly determined coalitions are then conveyed to the robots which then form the coalitions as instructed. As new tasks are encountered, coalitions merge and split so that the resulting coalitions are capable of doing the newly encountered tasks. Extensive simulations demonstrate the effectiveness of the proposed approach in a wide range of tasks.

关键词： Dynamic tasks Multirobot systems Cooperative robots Game theory

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Cooperative Targeting: Detection and Tracking of Small Objects with a Dual Camera System 9

Cooperative Targeting: Detection and Tracking of Small Objec...

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Field and Service robotics

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

ISBN: (纸本)9783319074887;9783319074870

Surveillance of a scene with computer vision faces the challenge of meeting two competing design objectives simultaneously: maintain a sufficient field-of-view coverage and provide adequate details of a target object if and when it appears in the scene. In this paper we propose a dual-camera system for tracking small objects based on a stationary camera and a pantilt-zoom (PTZ) camera. The utilization of two cameras enables us to detect a small object with the stationary camera while tracking it with the second moving camera. We present a method for modeling the dual-camera system and demonstrate how the model can be used in object detection and tracking applications. The main contribution of this paper is that we provide a model for explicitly computing the extrinsic parameters of the PTZ camera with respect to the stationary camera in order to target the moving camera at an object that has been detected by the stationary camera. Our mathematical model combines stereo calibration and hand-eye calibration algorithms as well as the kinematics of the pan-tilt unit, in order for the two cameras to collaborate. We present experimental results of our model in indoor and outdoor applications. The results prove that our dual camera system is an effective solution to the problem of detecting and tracking a small object with both excellent scene coverage and object details.

关键词： Cameras

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A Pipeline for Trunk Localisation Using LiDAR in Trellis Structured Orchards 9

A Pipeline for Trunk Localisation Using LiDAR in Trellis Str...

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Field and Service robotics

作者： Bargoti, Suchet Underwood, James P. Nieto, Juan I. Sukkarieh, Salah Univ Sydney ACFR Rose St Bldg J04 Sydney NSW 2006 Australia

ISBN: (纸本)9783319074887;9783319074870

Autonomous operation and information processing in an orchard environment requires an accurate inventory of the trees. Individual trees must be identified and catalogued in order to represent their distinct measures such as yield count, crop health and canopy volume. Hand labelling individual trees is a labour-intensive and time-consuming process. This paper presents a trunk localisation pipeline for identification of individual trees in an apple orchard using ground based LiDAR data. The trunk candidates are detected using a Hough Transform, and the orchard inventory is refined using a Hidden Semi-Markov Model. Such a model leverages from contextual information provided by the structured/repetitive nature of an orchard. Operating at an apple orchard near Melbourne, Australia, which hosts a modern Guttingen V trellis structure, we were able to perform tree segmentation with 89% accuracy.

关键词： Orchards

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