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

共 918 条记录，以下是211-220 订阅

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Modular Dynamic Simulation of Wheeled Mobile Robots 9

Modular Dynamic Simulation of Wheeled Mobile Robots

引用

Field and Service robotics

作者： Seegmiller, Neal Kelly, Alonzo Carnegie Mellon Univ Inst Robot Pittsburgh PA 15213 USA

ISBN: (纸本)9783319074887;9783319074870

This paper presents a modular method for 3D dynamic simulation of wheeled mobile robots (WMRs). Our method extends efficient dynamics algorithms based on spatial vector algebra to accommodate any articulated WMR configuration. In contrast to some alternatives, our method also supports complex, nonlinear wheel-ground contact models. Instead of directly adding contact forces, we solve for them in a novel differential algebraic equation (DAE) formulation. To make this possible we resolve issues of nonlinearity and overconstraint. We demonstrate our method's flexibility and speed through simulations of two state-of-the-art WMR platforms and wheel-ground contact models. Simulation accuracy is verified in a physical experiment.

关键词： Mobile robots

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Pebble Motion on Graphs with Rotations: Efficient Feasibility Tests and Planning Algorithms 11th

Pebble Motion on Graphs with Rotations: Efficient Feasibilit...

引用

11th Workshop on Algorithmic Foundations of robotics (WAFR)

作者： Yu, Jingjin Rus, Daniela MIT Comp Sci & Artificial Intelligence Lab 77 Massachusetts Ave Cambridge MA 02139 USA

ISBN: (纸本)9783319165950;9783319165943

We study the problem of planning paths for p distinguishable pebbles (robots) residing on the vertices of an n-vertex connected graph with p <= n. A pebble may move from a vertex to an adjacent one in a time step provided that it does not collide with other pebbles. When p = n, the only collision free moves are synchronous rotations of pebbles on disjoint cycles of the graph. We show that the feasibility of such problems is intrinsically determined by the diameter of a (unique) permutation group induced by the underlying graph. Roughly speaking, the diameter of a group G is the minimum length of the generator product required to reach an arbitrary element of G from the identity element. Through bounding the diameter of this associated permutation group, which assumes a maximum value of O(n(2)), we establish a linear time algorithm for deciding the feasibility of such problems and an O(n(3)) algorithm for planning complete paths.

关键词： Graph theory

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robotics for Sustainable Broad-Acre Agriculture 9

Robotics for Sustainable Broad-Acre Agriculture

引用

Field and Service robotics

作者： Ball, David Ross, Patrick English, Andrew Patten, Tim Upcroft, Ben Fitch, Robert Sukkarieh, Salah Wyeth, Gordon Corke, Peter Queensland Univ Technol Sch Elect Engn & Comp Sci Brisbane Qld 4001 Australia Univ Sydney Australian Ctr Field Robot Sydney NSW 2006 Australia

ISBN: (纸本)9783319074887;9783319074870

This paper describes the development of small low-cost cooperative robots for sustainable broad-acre agriculture to increase broad-acre crop production and reduce environmental impact. The current focus of the project is to use robotics to deal with resistant weeds, a critical problem for Australian farmers. To keep the overall system affordable our robot uses low-cost cameras and positioning sensors to perform a large scale coverage task while also avoiding obstacles. A multi-robot coordinator assigns parts of a given field to individual robots. The paper describes the modification of an electric vehicle for autonomy and experimental results from one real robot and twelve simulated robots working in coordination for approximately two hours on a 55 hectare field in Emerald Australia. Over this time the real robot 'sprayed' 6 hectares missing 2.6% and overlapping 9.7% within its assigned field partition, and successfully avoided three obstacles.

关键词： Robots

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Adaptive Informative Path Planning in Metric Spaces 11th

Adaptive Informative Path Planning in Metric Spaces

引用

11th Workshop on Algorithmic Foundations of robotics (WAFR)

作者： Lim, Zhan Wei Hsu, David Lee, Wee Sun Natl Univ Singapore Singapore 117417 Singapore

ISBN: (纸本)9783319165950;9783319165943

In contrast to classic robot motion planning, informative path planning (IPP) seeks a path for a robot to sense the world and gain information. In adaptive IPP, the robot chooses the next sensing location using all information acquired so far. The goal is to minimize the robot's travel cost required to identify a true hypothesis. Adaptive IPP is NP-hard. This paper presents Recursive Adaptive Identification (RAId), a new polynomial-time approximation algorithm for adaptive IPP. We prove a polylogarithmic approximation bound when the robot travels in a metric space. Furthermore, our experiments suggest that RAId is efficient in practice and provides good approximate solutions for several distinct robot planning tasks. Although RAId is designed primarily for noiseless observations, a simple extension allows it to handle some tasks with noisy observations.

关键词： Motion planning

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Drivable Road Detection with 3D Point Clouds Based on the MRF for Intelligent Vehicle 9

Drivable Road Detection with 3D Point Clouds Based on the MR...

引用

Field and Service robotics

作者： Byun, Jaemin Na, Ki-in Seo, Beom-su Roh, Myungchan Elect & Telecommun Res Inst Robot & Cognit Syst Res Dept Daejeon South Korea

ISBN: (纸本)9783319074887;9783319074870

In this paper, a reliable road/obstacle detection with 3D point cloud for intelligent vehicle on a variety of challenging environments (undulated road and/or uphill/downhill) is handled. For robust detection of road we propose the followings: 1) correction of 3D point cloud distorted by the motion of vehicle (high speed and heading up and down) incorporating vehicle posture information;2) guideline for the best selection of the proper features such as gradient value, height average of neighboring node;3) transformation of the road detection problem into a classification problem of different features;and 4) inference algorithm based on MRF with the loopy belief propagation for the area that the LIDAR does not cover. In experiments, we use a publicly available dataset as well as numerous scans acquired by the HDL-64E sensor mounted on experimental vehicle in inner city traffic scenes. The results show that the proposed method is more robust and reliable than the conventional approach based on the height value on the variety of challenging environment.

关键词： Vehicles

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INS Assisted Monocular Visual Odometry for Aerial Vehicles 9

INS Assisted Monocular Visual Odometry for Aerial Vehicles

引用

Field and Service robotics

作者： Zhang, Ji Singh, Sanjiv Carnegie Mellon Univ Inst Robot Pittsburgh PA 15213 USA

ISBN: (纸本)9783319074887;9783319074870

The requirement to operate aircrafts in GPS denied environments can be met by use of visual odometry. We study the case that the height of the aircraft above the ground can be measured by an altimeter. Even with a high quality INS that the orientation drift is neglectable, random noise exists in the INS orientation. The noise can lead to the error of position estimate, which accumulates over time. Here, we solve the visual odometry problem by tightly coupling the INS and camera. During state estimation, we virtually rotate the camera by reprojecting features with their depth direction perpendicular to the ground. This allows us to partially eliminate the error accumulation in state estimation, resulting in a slow position drift. The method is tested with data collected on a full-scale helicopter for approximately 16km of travel. The estimation error is less than 1% of the flying distance.

关键词： State estimation

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Building Environmental Maps of Human Activity for a Mobile Service Robot at the "Miraikan" Museum 9

Building Environmental Maps of Human Activity for a Mobile S...

引用

Field and Service robotics

作者： Samejima, Ippei Nihei, Yuma Hatao, Naotaka Kagami, Satoshi Mizoguchi, Hiroshi Takemura, Hiroshi Osaki, Akihiro Natl Inst Adv Ind Sci & Technol Digital Human Res Ctr Koto Ku 2-3-26 Aomi Tokyo 1350064 Japan Tokyo Univ Sci Shinjuku Ku Tokyo 1620825 Japan Natl Museum Emerging Sci & Innovat Miraikan Koto Ku Tokyo Japan

ISBN: (纸本)9783319074887;9783319074870

This paper describes environment maps that are comprised of the following three types of information, 1) 3D environmental changes that represents human activities, 2) human trajectories in 2D that represent how humans move in the environment, and 3) human posture data. These maps are utilized in order to plan safer, quicker and/or non-human-disturbing paths for a mobile service robot at the museum "Miraikan". Experiments are conducted within "Miraikan" and results are shown.

关键词： Mobile robots

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FFRob: An Efficient Heuristic for Task and Motion Planning 11th

FFRob: An Efficient Heuristic for Task and Motion Planning

引用

11th Workshop on Algorithmic Foundations of robotics (WAFR)

作者： Garrett, Caelan Reed Lozano-Perez, Tomas Kaelbling, Leslie Pack MIT CSAIL 77 Massachusetts Ave Cambridge MA 02139 USA

ISBN: (纸本)9783319165950;9783319165943

Manipulation problems involving many objects present substantial challenges for motion planning algorithms due to the high dimensionality and multi-modality of the search space. Symbolic task planners can efficiently construct plans involving many entities but cannot incorporate the constraints from geometry and kinematics. In this paper, we show how to extend the heuristic ideas from one of the most successful symbolic planners in recent years, the FastForward (FF) planner, to motion planning, and to compute it efficiently. We use a multi-query roadmap structure that can be conditionalized to model different placements of movable objects. The resulting tightly integrated planner is simple and performs efficiently in a collection of tasks involving manipulation of many objects.

关键词： Motion planning

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Asymptotically Optimal Feedback Planning: FMM Meets Adaptive Mesh Refinement 11th

Asymptotically Optimal Feedback Planning: FMM Meets Adaptive...

引用

11th Workshop on Algorithmic Foundations of robotics (WAFR)

作者： Yershov, Dmitry S. Frazzoli, Emilio MIT 77 Massachusetts Ave Cambridge MA 02139 USA

ISBN: (纸本)9783319165950;9783319165943

The first asymptotically optimal feedback motion planning algorithm is presented. Our algorithm is based on twowell-established numerical practices: (1) the Fast Marching Method (FMM), which is a numerical Hamilton-Jacobi-Bellman solver, and (2) the adaptive mesh refinement algorithm designed to improve the resolution of a simplicial mesh and, consequently, reduce the numerical error. Using the uniform mesh refinement, we show that the resulting sequence of numerical solutions converges to the optimal one. According to the dynamic programming principle, it is sufficient to refine the discretization within a small region around an optimal trajectory in order to reduce the computational cost. Numerical experiments confirm that our algorithm outperforms previous asymptotically optimal planning algorithms, such as PRM* and RRT*, in that it uses fewer discretization points to achieve similar quality approximate optimal paths.

关键词： Optimal planning Feedback planning Shortest path problem Fast marching method Adaptive mesh refinement

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Human Biomechanical Model Based Optimal Design of Assistive Shoulder Exoskeleton 9

Human Biomechanical Model Based Optimal Design of Assistive ...

引用

Field and Service robotics

作者： Carmichael, Marc G. Liu, Dikai K. Univ Technol Ctr Autonomous Syst Sydney NSW Australia

ISBN: (纸本)9783319074887;9783319074870

Robotic exoskeletons are being developed to assist humans in tasks such as robotic rehabilitation, assistive living, industrial and other service applications. Exoskeletons for the upper limb are required to encompass the shoulder whilst achieving a range of motion so as to not impede the wearer, avoid collisions with the wearer, and avoid kinematic singularities during operation. However this is particularly challenging due to the large range of motion of the human shoulder. In this paper a biomechanical model based optimisation is applied to the design of a shoulder exoskeleton with the objective of maximising shoulder range of motion. A biomechanical model defines the healthy range of motion of the human shoulder. A genetic algorithm maximises the range of motion of the exoskeleton towards that of the human, whilst taking into account collisions and kinematic singularities. It is shown how the optimisation can increase the exoskeleton range of motion towards that equivalent of the human, or towards a subset of human range of motion relevant to specific applications.

关键词： Genetic algorithms

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