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

共 918 条记录，以下是221-230 订阅

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Towards Autonomous Mobile Robots for the Exploration of Steep Terrain 9

Towards Autonomous Mobile Robots for the Exploration of Stee...

引用

Field and Service robotics

作者： Stenning, Braden Bajin, Lauren Robson, Christine Peretroukhin, Valentin Osinski, Gordon R. Barfoot, Timothy D. Univ Toronto Inst Aerosp Studies Toronto ON Canada Univ Western Ontario Dept Earth Sci London ON N6A 3K7 Canada Univ Western Ontario Dept Phys & Astron London ON N6A 3K7 Canada

ISBN: (纸本)9783319074887;9783319074870

Steep, natural terrain offers excellent opportunities for scientific investigations into the composition and history of Mars and other planetary bodies. In this paper, we present a prototype tethered robot, vScout (vertical scout), capable of operating in steep, rugged terrain. The primary purpose of this vehicle is to support field geologists conducting research on cliffs, in canyons, and on crater walls. However, the long-term vision is to develop a system suitable for planetary exploration (and more diverse terrestrial applications). Unlike other systems for exploration in steep terrain, vScout has demonstrated autonomous operation on steep surfaces by making use of a network of reusable paths and visual teach & repeat. Here we describe the first vScout prototype and our experiences with it. We also outline some challenges and the directions we intend to take with this research.

关键词： Landforms

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Smooth and Dynamically Stable Navigation of Multiple Human-Like Robots 11th

Smooth and Dynamically Stable Navigation of Multiple Human-L...

引用

11th Workshop on Algorithmic Foundations of robotics (WAFR)

作者： Park, Chonhyon Manocha, Dinesh Univ N Carolina Chapel Hill NC 27599 USA

ISBN: (纸本)9783319165950;9783319165943

We present a novel algorithm for smooth and collision-free navigation for multiple human-like robots. Our approach combines reciprocal collision avoidance with kinematic and dynamic stability constraints to compute a non-oscillatory trajectory for each high-DOF robot. We use a multi-level optimization algorithm that combines acceleration-velocity obstacles with trajectory optimization. We highlight our algorithm's performance in different environments containing multiple human-like robots with tens of DOFs.

关键词： Robots

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Distributed Range-Based Relative Localization of Robot Swarms 11th

Distributed Range-Based Relative Localization of Robot Swarm...

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11th Workshop on Algorithmic Foundations of robotics (WAFR)

作者： Cornejo, Alejandro Nagpal, Radhika Harvard Univ Sch Engn & Appl Sci Cambridge MA 02138 USA

ISBN: (纸本)9783319165950;9783319165943

This paper studies the problem of having mobile robots in a multi-robot system maintain an estimate of the relative position and relative orientation of nearby robots in the environment. This problem is studied in the context of large swarms of simple robots which are capable of measuring only the distance to near-by robots. We compare two distributed localization algorithms with different trade-offs between their computational complexity and their coordination requirements. The first algorithm does not require the robots to coordinate their motion. It relies on a non-linear least squares based strategy to allow robots to compute the relative pose of nearby robots. The second algorithm borrows tools from distributed computing theory to coordinate which robots must remain stationary and which robots are allowed to move. This coordination allows the robots to use standard trilateration techniques to compute the relative pose of near-by robots. Both algorithms are analyzed theoretically and validated through simulations.

关键词： Economic and social effects

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Active Control Strategies for Discovering and Localizing Devices with Range-Only Sensors 11th

Active Control Strategies for Discovering and Localizing Dev...

引用

11th Workshop on Algorithmic Foundations of robotics (WAFR)

作者： Charrow, Benjamin Michael, Nathan Kumar, Vijay Univ Penn Grasp Lab Philadelphia PA 19104 USA Carnegie Mellon Univ Inst Robot Pittsburgh PA 15213 USA

ISBN: (纸本)9783319165950;9783319165943

This paper addresses the problem of actively controlling robotic teams with range-only sensors to (a) discover and (b) localize an unknown number of devices. We develop separate information based objectives to achieve both goals, and examine ways of combining them into a unified approach. Despite the computational complexity of calculating these policies for multiple robots over long time horizons, a series of approximations enable all calculations to be performed in polynomial time. We demonstrate the tangible benefits of our approaches through a series of simulations in complex indoor environments.

关键词： Polynomial approximation

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Efficient Multi-robot Motion Planning for Unlabeled Discs in Simple Polygons 11th

Efficient Multi-robot Motion Planning for Unlabeled Discs in...

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11th Workshop on Algorithmic Foundations of robotics (WAFR)

作者： Adler, Aviv de Berg, Mark Halperin, Dan Solovey, Kiril Princeton Univ Dept Math Princeton NJ 08544 USA Tu Eindhoven Dept Math & Comp Sci Eindhoven Netherlands Tel Aviv Univ Blavatnik Sch Comp Sci IL-69978 Tel Aviv Israel

ISBN: (纸本)9783319165950;9783319165943

We consider the following motion-planning problem: we are given m unit discs in a simple polygon with n vertices, each at their own start position, and we want to move the discs to a given set of m target positions. Contrary to the standard (labeled) version of the problem, each disc is allowed to be moved to any target position, as long as in the end every target position is occupied. We show that this unlabeled version of the problem can be solved in O (n log n + mn + m(2)) time, assuming that the start and target positions are at least some minimal distance from each other. This is in sharp contrast to the standard (labeled) and more general multirobot motion planning problem for discs moving in a simple polygon, which is known to be strongly Np-hard.

关键词： Motion planning

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The Feasible Transition Graph: Encoding Topology and Manipulation Constraints for Multirobot Push-Planning 11th

The Feasible Transition Graph: Encoding Topology and Manipul...

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11th Workshop on Algorithmic Foundations of robotics (WAFR)

作者： Lindzey, Laura Knepper, Ross A. Choset, Howie Srinivasa, Siddhartha S. Univ Texas Austin 1 Univ Stn Austin TX 78712 USA Cornell Univ Dept Comp Sci Ithaca NY 14853 USA Carnegie Mellon Univ Pittsburgh PA 15213 USA

ISBN: (纸本)9783319165950;9783319165943

Planning for multirobot manipulation in dense clutter becomes particularly challenging as the motion of the manipulated object causes the connectivity of the robots' free space to change. This paper introduces a data structure, the Feasible Transition Graph (FTG), and algorithms that solve such complex motion planning problems. We define an equivalence relation over object configurations based on the robots' free space connectivity. Within an equivalence class, the homogeneous multirobot motion planning problem is straightforward, which allows us to decouple the problems of composing feasible object motions and planning paths for individual robots. The FTG captures transitions among the equivalence classes and encodes constraints that must be satisfied for the robots to manipulate the object. From this data structure, we readily derive a complete planner to coordinate such motion. Finally, we show how to construct the FTG in some sample environments and discuss future adaptations to general environments.

关键词： Topology

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RRT^X: Real-Time Motion Planning/Replanning for Environments with Unpredictable Obstacles 11th

RRT<SUP>X</SUP>: Real-Time Motion Planning/Replanning for En...

引用

11th Workshop on Algorithmic Foundations of robotics (WAFR)

作者： Otte, Michael Frazzoli, Emilio MIT 77 Massachusetts Ave Cambridge MA 02139 USA

ISBN: (纸本)9783319165950;9783319165943

We present RRTX, the first asymptotically optimal sampling-based motion planning algorithm for real-time navigation in dynamic environments (containing obstacles that unpredictably appear, disappear, and move). Whenever obstacle changes are observed, e.g., by onboard sensors, a graph rewiring cascade quickly updates the search-graph and repairs its shortest-path-to-goal subtree. Both graph and tree are built directly in the robot's state space, respect the kinematics of the robot, and continue to improve during navigation. RRTX is also competitive in static environments-where it has the same amortized per iteration runtime as RRT and RRT* Theta (log n) and is faster than RRT# omega (log(2) n). In order to achieve O (log n) iteration time, each node maintains a set of O (log n) expected neighbors, and the search graph maintains epsilon-consistency for a predefined epsilon.

关键词： Real-time Asymptotically optimal Graph consistency Motion planning Replanning Dynamic environments Shortest-path

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GPmap: A Unified Framework for Robotic Mapping Based on Sparse Gaussian Processes 9

GPmap: A Unified Framework for Robotic Mapping Based on Spar...

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Field and Service robotics

作者： Kim, Soohwan Kim, Jonghyuk Australian Natl Univ Canberra ACT Australia

ISBN: (纸本)9783319074887;9783319074870

This paper proposes a unified framework called GPmap for reconstructing surface meshes and building continuous occupancy maps using sparse Gaussian processes. Previously, Gaussian processes have been separately applied for surface reconstruction and occupancy mapping with different function definitions. However, by adopting the signed distance function as the latent function and applying the probabilistic least square classification, we solve two different problems in a single framework. Thus, two different map representations can be obtained at a single cast, for instance, an object shape for grasping and an occupancy map for obstacle avoidance. Another contribution of this paper is reduction of computational complexity for scalability. The cubic computational complexity of Gaussian processes is a well-known issue limiting its applications for large-scale data. We address this by applying the sparse covariance function which makes distant data independent and thus divides both training and test data into grid blocks of manageable sizes. In contrast to previous work, the size of grid blocks is determined in a principled way by learning the characteristic length-scale of the sparse covariance function from the training data. We compare theoretical complexity with previous work and demonstrate our method with structured indoor and unstructured outdoor datasets.

关键词： Computational complexity

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Accuracy and Performance Experiences of Four Wheel Steered Autonomous Agricultural Tractor in Sowing Operation 9

Accuracy and Performance Experiences of Four Wheel Steered A...

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Field and Service robotics

作者： Oksanen, Timo Aalto Univ Sch Elect Engn Dept Automat & Syst Technol Otaniementie 17 Espoo Finland

ISBN: (纸本)9783319074887;9783319074870

In agriculture, a typical task is to do a coverage operation for a field. Coverage path planning algorithms can be used to create the path for a vehicle. In case of an autonomous agricultural vehicle, the path is provided to the guidance or navigation system that steers the vehicle. In this paper, a four wheel steered tractor is used in autonomous sowing operation. The full size tractor is equipped with 2.5 m hitch mounted seed drill and the developed guidance system is used to sow about six hectares spring wheat. In this paper is presented the results of the guidance accuracy in the field tests, in four field plots. The guidance accuracy in terms of lateral and angular error to the path is typically less than 10 cm and one degree, respectively. The paper also presents real life problems happened in the field tests, including losing GPS positioning signal and tractor safety related wireless communication problems.

关键词： Tractors (agricultural)

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Collision Prediction Among Rigid and Articulated Obstacles with Unknown Motion 11th

Collision Prediction Among Rigid and Articulated Obstacles w...

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11th Workshop on Algorithmic Foundations of robotics (WAFR)

作者： Lu, Yanyan Xi, Zhonghua Lien, Jyh-Ming George Mason Univ Dept Comp Sci Fairfax VA 22030 USA

ISBN: (纸本)9783319165950;9783319165943

Collision prediction is a fundamental operation for planning motion in dynamic environment. Existing methods usually exploit complex behavior models or use dynamic constraints in collision prediction. However, these methods all assume simple geometry, such as disc, which significantly limit their applicability. This paper proposes a new approach that advances collision prediction beyond disc robots and handles arbitrary polygons and articulated objects. Our new tool predicts collision by assuming that obstacles are adversarial. Comparing to an online motion planner that replans periodically at fixed time interval and planner that approximates obstacle with discs, our experimental results provide strong evidences that the new method significantly reduces the number of replans while maintaining higher success rate of finding a valid path. Our geometric-based collision prediction method provides a tool to handle highly complex shapes and provides a complimentary approach to those methods that consider behavior and dynamic constraints of objects with simple shapes.

关键词： Forecasting

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