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

共 918 条记录，以下是231-240 订阅

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Intelligent Assistive Robots: Recent Advances in Assistive robotics for Everyday Activities 1

引用

丛书名： springer tracts in advanced robotics

2015年

作者： Samer Mohammed, Juan C. Moreno, Kyoungchul Kong, Yacine Amirat (eds.)

ISBN: (数字)9783319129228

ISBN: (纸本)9783319129211;9783319129228

This book deals with the growing challenges of using assistive robots in our everyday activities along with providing intelligent assistive services. The presented applications concern mainly healthcare and wellness such as helping elderly people, assisting dependent persons, habitat monitoring in smart environments, well-being, security, etc. These applications reveal also new challenges regarding control theory, mechanical design, mechatronics, portability, acceptability, scalability, security, etc.

关键词： robotics Human-robot interaction. Self-help devices for people with disabilities. Engineering. Control. Artificial Intelligence (incl. robotics). Human factors.

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Orienting Parts with Shape Variation 11th

Orienting Parts with Shape Variation

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11th Workshop on Algorithmic Foundations of robotics (WAFR)

作者： Panahi, Fatemeh Davoodi, Mansoor van der Stappen, A. Frank Univ Utrecht Dept Informat & Comp Sci POB 80089 NL-3508 TB Utrecht Netherlands IASBS Dept Comp Sci & Informat Technol Zanjan Iran

ISBN: (纸本)9783319165950;9783319165943

Industrial parts are manufactured to tolerances as no production process is capable of delivering perfectly identical parts. It is unacceptable that a plan for a manipulation task that was determined on the basis of a CAD model of a part fails on some manufactured instance of that part, and therefore it is crucial that the admitted shape variations are systematically taken into account during the planning of the task. We study the problem of orienting a part with given admitted shape variations by means of pushing with a single frictionless jaw. We use a very general model for admitted shape variations that only requires that any valid instance must contain a given convex polygon PI while it must be contained in another convex polygon PE. The problem that we solve is to determine, for a given h, the sequence of h push actions that puts all valid instances of a part with given shape variation into the smallest possible interval of final orientations. The resulting algorithm runs in O(hn) time, where n = vertical bar P-I vertical bar + vertical bar P-E vertical bar.

关键词： Part feeding Shape variation Pushing

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Purposive Sample Consensus: A Paradigm for Model Fitting with Application to Visual Odometry 9

Purposive Sample Consensus: A Paradigm for Model Fitting wit...

引用

Field and Service robotics

作者： Wang, Jianguo Luo, Xiang Univ Technol Sydney Sydney NSW Australia

ISBN: (纸本)9783319074887;9783319074870

ANSAC (random sample consensus) is a robust algorithm for model fitting and outliers' removal, however, it is neither efficient nor reliable enough to meet the requirement of many applications where time and precision is critical. Various algorithms have been developed to improve its performance for model fitting. A new algorithm named PURSAC (purposive sample consensus) is introduced in this paper, which has three major steps to address the limitations of RANSAC and its variants. Firstly, instead of assuming all the samples have a same probability to be inliers, PURSAC seeks their differences and purposively selects sample sets. Secondly, as sampling noise always exists;the selection is also according to the sensitivity analysis of a model against the noise. The final step is to apply a local optimization for further improving its model fitting performance. Tests show that PURSAC can achieve very high model fitting certainty with a small number of iterations. Two cases are investigated for PURSAC implementation. It is applied to line fitting to explain its principles, and then to feature based visual odometry, which requires efficient, robust and precise model fitting. Experimental results demonstrate that PURSAC improves the accuracy and efficiency of fundamental matrix estimation dramatically, resulting in a precise and fast visual odometry.

关键词： robust model fitting visual odometry samples' reliability samples' geometry sampling noise

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Efficient Sampling-Based Approaches to Optimal Path Planning in Complex Cost Spaces 11th

Efficient Sampling-Based Approaches to Optimal Path Planning...

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11th Workshop on Algorithmic Foundations of robotics (WAFR)

作者： Devaurs, Didier Simeon, Thierry Cortes, Juan CNRS LAAS 7 Ave Colonel Roche F-31400 Toulouse France Univ Toulouse LAAS F-31400 Toulouse France

ISBN: (纸本)9783319165950;9783319165943

Sampling-based algorithms for path planning have achieved great success during the last 15 years, thanks to their ability to efficiently solve complex high-dimensional problems. However, standard versions of these algorithms cannot guarantee optimality or even high-quality for the produced paths. In recent years, variants of these methods, taking cost criteria into account during the exploration process, have been proposed to compute high-quality paths (such as T-RRT), some even guaranteeing asymptotic optimality (such as RRT*). In this paper, we propose two new sampling-based approaches that combine the underlying principles of RRT* and T-RRT. These algorithms, called T-RRT* and AT-RRT, offer probabilistic completeness and asymptotic optimality guarantees. Results presented on several classes of problems show that they converge faster than RRT* toward the optimal path, especially when the topology of the search space is complex and/or when its dimensionality is high.

关键词： Optimal path planning Anytime path planning Cost space path planning Sampling-based path planning

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Lunar Micro Rover Design for Exploration through Virtual Reality Tele-operation 9

Lunar Micro Rover Design for Exploration through Virtual Rea...

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Field and Service robotics

作者： Britton, Nathan Yoshida, Kazuya Walker, John Nagatani, Keiji Taylor, Graeme Dauphin, Loic Tohoku Univ Sendai Miyagi Japan Int Space Univ Strasbourg Alsace France ENSEIRB MATMECA Talence France

ISBN: (纸本)9783319074887;9783319074870

A micro rover, code-named Moonraker, was developed to demonstrate the feasibility of 10kg-class lunar rover missions. Requirements were established based on the Google Lunar X-Prize mission guidelines in order to effectively evaluate the prototype. A 4-wheel skid steer configuration was determined to be effective to reduce mass, maximize regolith traversability, and fit within realistic restrictions on the rover's envelope by utilizing the top corners of the volume. A static, hyperbolic mirror-based omnidirectional camera was selected in order to provide full 360 degrees views around the rover, eliminating the need for a pan/tilt mechanism and motors. A front mounted, motorless MEMS laser scanner was selected for similar mass reduction qualities. A virtual reality interface is used to allow one operator to intuitively change focus between various narrow targets of interest within the wide set of fused data available from these sensors. Lab tests were conducted on the mobility system, as well as field tests at three locations in Japan and Mauna Kea. Moonraker was successfully teleoperated to travel over 900m up and down a peak with slopes of up to 15 degrees. These tests demonstrate the rover's capability to traverse across lunar regolith and gather sufficient data for effective situational awareness and near real-time tele-operation.

关键词： Rovers

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Composing Dynamical Systems to Realize Dynamic Robotic Dancing 11th

Composing Dynamical Systems to Realize Dynamic Robotic Danci...

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11th Workshop on Algorithmic Foundations of robotics (WAFR)

作者： Kolathaya, Shishir Ma, Wen-Loong Ames, Aaron D. Texas A&M Univ College Stn TX 77843 USA

ISBN: (纸本)9783319165950;9783319165943

This paper presents a methodology for the composition of complex dynamic behaviors in legged robots, and illustrates these concepts to experimentally achieve robotic dancing. Inspired by principles from dynamic locomotion, we begin by constructing controllers that drive a collection of virtual constraints to zero;this creates a low-dimensional representation of the bipedal robot. Given any two poses of the robot, we utilize this low-dimensional representation to connect these poses through a dynamic transition. The end result is a meta-dynamical system that describes a series of poses (indexed by the vertices of a graph) together with dynamic transitions (indexed by the edges) connecting these poses. These formalisms are illustrated in the case of dynamic dancing;a collection of ten poses are connected through dynamic transitions obtained via virtual constraints, and transitions through the graph are synchronized with music tempo. The resulting meta-dynamical system is realized experimentally on the bipedal robot AMBER 2 yielding dynamic robotic dancing.

关键词： Dynamical systems

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Aggressive Moving Obstacle Avoidance Using a Stochastic Reachable Set Based Potential Field 11th

Aggressive Moving Obstacle Avoidance Using a Stochastic Reac...

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11th Workshop on Algorithmic Foundations of robotics (WAFR)

作者： Chiang, Hao-Tien Malone, Nick Lesser, Kendra Oishi, Meeko Tapia, Lydia Univ New Mexico Phys & Astron 1919 Lomas Blvd NE Albuquerque NM 87131 USA Univ New Mexico Comp Sci MSC01 1130 1 Albuquerque NM 87131 USA Univ New Mexico Elect & Comp Engn MSC01 1100 1 Albuquerque NM 87131 USA

ISBN: (纸本)9783319165950;9783319165943

Identifying collision-free trajectories in environmentswith dynamic obstacles is a significant challenge. However, many pertinent problems occur in dynamic environments, e.g., flight coordination, satellite navigation, autonomous driving, and household robotics. Stochastic reachable (SR) sets assure collision-free trajectories with a certain likelihood in dynamic environments, but are infeasible for multiple moving obstacles as the computation scales exponentially in the number of Degrees of Freedom (DoF) of the relative robot-obstacle state space. Other methods, such as artificial potential fields (APF), roadmap-based methods, and tree-based techniques can scale well with the number of obstacles. However, these methods usually have low success rates in environments with a large number of obstacles. In this paper, we propose a method to integrate formal SR sets with ad-hoc APFs for multiple moving obstacles. The success rate of this method is 30% higher than two related methods for moving obstacle avoidance, a roadmap-based technique that uses a SR bias and an APF technique without a SR bias, reaching over 86% success in an enclosed space with 100 moving obstacles that ricochet off the walls.

关键词： Robots

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Real-Time Predictive Modeling and Robust Avoidance of Pedestrians with Uncertain, Changing Intentions 11th

Real-Time Predictive Modeling and Robust Avoidance of Pedest...

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11th Workshop on Algorithmic Foundations of robotics (WAFR)

作者： Ferguson, Sarah Luders, Brandon Grande, Robert C. How, Jonathan P. MIT Aerosp Controls Lab 77 Massachusetts Ave Cambridge MA 02139 USA

ISBN: (纸本)9783319165950;9783319165943

To plan safe trajectories in urban environments, autonomous vehicles must be able to quickly assess the future intentions of dynamic agents. Pedestrians are particularly challenging to model, as their motion patterns are often uncertain and/or unknown a priori. This paper presents a novel changepoint detection and clustering algorithm that, when coupled with offline unsupervised learning of a Gaussian process mixture model (DPGP), enables quick detection of changes in intent and online learning of motion patterns not seen in prior training data. The resulting long- term movement predictions demonstrate improved accuracy relative to offline learning alone, in terms of both intent and trajectory prediction. By embedding these predictions within a chance-constrained motion planner, trajectories which are probabilistically safe to pedestrianmotions can be identified in real-time. Hardware experiments demonstrate that this approach can accurately predict motion patterns from onboard sensor/perception data and facilitate robust navigation within a dynamic environment.

关键词： Pedestrian modeling Intent prediction Gaussian processes Probabilistic path planning Autonomous vehicles

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Human Activity Recognition for Domestic Robots 9

Human Activity Recognition for Domestic Robots

引用

Field and Service robotics

作者： Piyathilaka, Lasitha Kodagoda, Sarath Univ Technol Ctr Autonomous Syst Sydeny Australia

ISBN: (纸本)9783319074887;9783319074870

Capabilities of domestic service robots could be further improved, if the robot is equipped with an ability to recognize activities performed by humans in its sensory range. For example in a simple scenario a floor cleaning robot can vacuum the kitchen floor after recognizing human activity "cooking in the kitchen". Most of the complex human activities can be sub divided into simple activities which can later used for recognize complex activities. Activities like "take meditation" can be sub divided into simple activities like "opening pill container" and "drinking water". However, even recognizing simple activities are highly challenging due to the similarities between some inter activities and dissimilarities of intra activities which are performed by different people, body poses and orientations. Even a simple human activity like "drinking water" can be performed while the subject is in different body poses like sitting, standing or walking. Therefore building machine learning techniques to recognize human activities with such complexities is non trivial. To address this issue, we propose a human activity recognition technique that uses 3D skeleton features produced by a depth camera. The algorithm incorporates importance weights for skeleton 3D joints according to the activity being performed. This allows the algorithm to ignore the confusing or irrelevant features while relying on informative features. Later these joints were ensembled together to train Dynamic Bayesian Networks (DBN), which is then used to infer human activities based on likelihoods. The proposed activity recognition technique is tested on a publicly available dataset and UTS experiments with overall accuracies of 85% and 90%.

关键词： Potable water

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Online Task Planning and Control for Aerial Robots with Fuel Constraints in Winds 11th

Online Task Planning and Control for Aerial Robots with Fuel...

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11th Workshop on Algorithmic Foundations of robotics (WAFR)

作者： Yoo, Chanyeol Fitch, Robert Sukkarieh, Salah Univ Sydney Australian Ctr Field Robot Sydney NSW 2006 Australia

ISBN: (纸本)9783319165950;9783319165943

Real-world applications of aerial robots must consider operational constraints such as fuel level during task planning. This paper presents an algorithm for automatically synthesizing a continuous non-linear flight controller given a complex temporal logic task specification that can include contingency planning rules. Our method is a hybrid controller where fuel level is treated continuously in the low-level and symbolically in the high-level. The low-level controller assumes the availability of a set of point-estimates of wind velocity and builds a continuous interpolation using Gaussian process regression. Fuel burn and aircraft dynamics are modelled under physically realistic assumptions. Our algorithm is efficient and we show-empirically that it is feasible for online execution and replanning. We present simulation examples of navigation in a wind field and surveillance with fuel constraints.

关键词： Antennas

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