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

共 918 条记录，以下是251-260 订阅

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EightWeeks of Episodic Visual Navigation Inside a Non-stationary Environment Using Adaptive Spherical Views 9

EightWeeks of Episodic Visual Navigation Inside a Non-statio...

引用

Field and Service robotics

作者： Dayoub, Feras Cielniak, Grzegorz Duckett, Tom Queensland Univ Technol CyPhy Lab Brisbane Qld Australia Lincoln Univ Brayford Pool Lincs England

ISBN: (纸本)9783319074887;9783319074870

This paper presents a long-term experiment where a mobile robot uses adaptive spherical views to localize itself and navigate inside a non-stationary office environment. The office contains seven members of staff and experiences a continuous change in its appearance over time due to their daily activities. The experiment runs as an episodic navigation task in the office over a period of eight weeks. The spherical views are stored in the nodes of a pose graph and they are updated in response to the changes in the environment. The updating mechanism is inspired by the concepts of long- and short-term memories. The experimental evaluation is done using three performance metrics which evaluate the quality of both the adaptive spherical views and the navigation over time.

关键词： Navigation

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Trackability with Imprecise Localization 11th

Trackability with Imprecise Localization

引用

11th Workshop on Algorithmic Foundations of robotics (WAFR)

作者： Klein, Kyle Suri, Subhash Univ Calif Santa Barbara Santa Barbara CA 93106 USA

ISBN: (纸本)9783319165950;9783319165943

Imagine a tracking agent P who wants to follow a moving target Q in d-dimensional Euclidean space. The tracker has access to a noisy location sensor that reports an estimate (Q) over bar (t) of the target's true location Q(t) at time t, where parallel to Q(t) - (Q) over bar (t)parallel to represents the sensor's localization error. We study the limits of tracking performance under this kind of sensing imprecision. In particular, (1) what is P's best strategy to follow Q if both P and Q can move with equal speed, (2) at what rate does the distance parallel to Q(t)-P(t)parallel to grow under worst-case localization noise, (3) if P wants to keep Q within a prescribed distance L, how much faster does it need to move, and (4) what is the effect of obstacles on the tracking performance, etc. Under a relative error model of noise, we are able to prove upper and lower bounds for the worst-case tracking performance, both with or without obstacles. We also provide simulation results on real and synthetic data to illustrate trackability under imprecise localization.

关键词： tracking ability visual tracking Quality factor Noise Euclidean space synthetic data Lower bound error model

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Introduction to Autonomous Manipulation: Case Study with an Underwater Robot, SAUVIM 1

引用

丛书名： springer tracts in advanced robotics

2014年

作者： Giacomo Marani, Junku Yuh (auth.)

ISBN: (数字)9783642546136

ISBN: (纸本)9783642546129;9783642546136

Autonomous manipulation is a challenge in robotic technologies. It refers to the capability of a mobile robot system with one or more manipulators that performs intervention tasks requiring physical contacts in unstructured environments and without continuous human supervision. Achieving autonomous manipulation capability is a quantum leap in robotic technologies as it is currently beyond the state of the art in robotics. This book addresses issues with the complexity of the problems encountered in autonomous manipulation including representation and modeling of robotic structures, kinematic and dynamic robotic control, kinematic and algorithmic singularity avoidance, dynamic task priority, workspace optimization and environment perception. Further development in autonomous manipulation should be able to provide robust improvements of the solutions for all of the above issues. The book provides an extensive tract on sensory-based autonomous manipulation for intervention tasks in unstructured environments. After presenting the theoretical foundations for kinematic and dynamic modelling as well as task-priority based kinematic control of multi-body systems, the work is focused on one of the most advanced underwater vehicle-manipulator system, SAUVIM (Semi-Autonomous Underwater Vehicle for Intervention Missions). Solutions to the problem of target identification and localization are proposed, a number of significant case studies are discussed and practical examples and experimental/simulation results are presented. The book may inspire the robot research community to further investigate critical issues in autonomous manipulation and to develop robot systems that can profoundly impact our society for the better.

关键词： Autonomous robots. Mobile robots.

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Imitation Learning and Behavior Generation in a Robot Team 11

引用

11th International Symposium on Distributed Autonomous Robotic Systems (DARS)

作者： Tan, Huan Vanderbilt Univ Nashville TN 37235 USA

ISBN: (纸本)9783642551468;9783642551451

In this paper, we propose a method to apply robotic imitation learning in robot teams. In our method, behavior primitives with task-relevant information are defined as the basic units for robots to complete a task. Each behavior has its own task-relevant affordances. The learned behavior primitives format TAEM based behavior libraries and are stored in a database for robots to share. The motivation of learning, conducted by robots, is goal-oriented and strongly related to the given task. Given a task, a robot analyzes the environment and searches the behavior library to find suitable behaviors to generate a behavior sequence to complete the task. If it thinks that it cannot complete this task, this robot requests other robots for assistance or request a human teacher to demonstrate the required behaviors. The newly learned behaviors will be added into the existing behavior library. We also develop inhibiting properties for robots to evaluate the current behaviors, which enables robots to request collaborations from other robots. The experimental results show the validity our proposed method.

关键词： Robots

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Error-Tolerant Cyclic Sequences for Vision-Based Absolute Encoders 11

引用

11th International Symposium on Distributed Autonomous Robotic Systems (DARS)

作者： Wolfe, Kevin C. Chirikjian, Gregory S. Johns Hopkins Univ Baltimore MD USA

ISBN: (纸本)9783642551468;9783642551451

A method for obtaining error-tolerant cyclic sequences similar to de Bruijn sequences is presented. These sequences have a number of potential applications, including use as absolute rotary encoders. This investigation is motivated by the desire to use a vision-based system to obtain the angular position of the wheels of mobile robots as they rotate about their axes. One benefit of this approach is that the actual wheel orientation is observed (as opposed to non-collocated measurements of wheel angles via encoders on the motor shaft). As a result, ambiguities from backlash are eliminated. Another benefit of this system is the ability to apply it quickly to existing systems. Several methods are developed for increasing the robustness of these encoders. An imaging simulator is used to compare the accuracy of a variety of encoding schemes subjected to several levels of image noise.

关键词： Wheels

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Distributed Particle Swarm Optimization for Limited Time Adaptation in Autonomous Robots 11

引用

11th International Symposium on Distributed Autonomous Robotic Systems (DARS)

作者： Di Mario, Ezequiel Martinoli, Alcherio Ecole Polytech Fed Lausanne Distributed Intelligent Syst & Algorithms Lab Sch Architecture Civil & Environm Engn CH-1015 Lausanne Switzerland

ISBN: (纸本)9783642551468;9783642551451

Evaluative techniques offer a tremendous potential for on-line controller design. However, when the optimization space is large and the performance metric is noisy, the time needed to properly evaluate candidate solutions becomes prohibitively large and, as a consequence, the overall adaptation process becomes extremely time consuming. Distributing the adaptation process reduces the required time and increases robustness to failure of individual agents. In this paper, we analyze the role of the four algorithmic parameters that determine the total evaluation time in a distributed implementation of a Particle Swarm Optimization algorithm. For a multi-robot obstacle avoidance case study, we explore in simulation the lower boundaries of these parameters with the goal of reducing the total evaluation time so that it is feasible to implement the adaptation process within a limited amount of time determined by the robots' energy autonomy. We show that each parameter has a different impact on the final fitness and propose some guidelines for choosing these parameters for real robot implementations.

关键词： Robots

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A Multi-Robot Cognitive Sharing System Using Audio and Video Sensors 11

引用

11th International Symposium on Distributed Autonomous Robotic Systems (DARS)

作者： McGibney, Daniel Morioka, Ryo Sekiyama, Kosuke Mukai, Hiro Fukuda, Toshio Washington Univ St Louis MO 63130 USA Nagoya Univ Nagoya Aichi 4648603 Japan

ISBN: (纸本)9783642551468;9783642551451

In this paper, we present a multi-robot system that integrates a vision-based navigation system with a non-speech-based audio system for the purpose of sorting objects. Here we use two separate robotic systems each utilizing a different sensor type: video and audio. We propose using vision-based sensors with audio-based sensors because a single sensor such as a video sensor may not understand the entire environment. Additionally, robots can come to inaccurate conclusions based on their observations so we increase the accuracy of the system by interpreting the input from multiple robots using cognitive sharing. Therefore, cooperation of multiple robots using multiple sensors provides a better understanding of the environment. The results show the effectiveness of the multi-robot cognitive sharing system.

关键词： Multipurpose robots

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Flexible Self-reconfigurable Robots Based on Thermoplastic Adhesives 11

引用

11th International Symposium on Distributed Autonomous Robotic Systems (DARS)

作者： Iida, Fumiya Wang, Liyu Brodbeck, Luzius ETH Bioinspired Robot Lab Inst Robot & Intelligent Syst Leonhardstr 27 CH-8092 Zurich Switzerland

ISBN: (纸本)9783642551468;9783642551451

The paper introduces a concept of flexible self-reconfiguration that makes use of thermoplastic adhesives (TPAs) in robotic systems. TPAs are polymer-based materials that exhibit several interesting mechanical properties beneficial for self-reconfiguration. For example, thermoplasticity enables robots to flexibly fabricate a number of different mechanical structures, while temperature-dependent adhesion allows systems to make robust connection and disconnection. This paper introduces robotic self-reconfiguration by using three TPA handling processes, i.e. structure formation, connection and disconnection. These processes are then examined in a few practical application scenarios, i.e. pick and place operations of a variety of objects, autonomous body extension of robotic manipulators, and robots climbing on uneven surfaces. And finally we discusses challenges and perspectives of this approach.

关键词： Reinforced plastics

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Maximum-Leaf Spanning Trees for Efficient Multi-Robot Recovery with Connectivity Guarantees 11

引用

11th International Symposium on Distributed Autonomous Robotic Systems (DARS)

作者： Habibi, Golnaz McLurkin, James Rice Univ 6100 Main St Houston TX USA

ISBN: (纸本)9783642551468;9783642551451

This paper presents a self-stabilizing distributed algorithm for the recovery of a large population of robots in a complex environment-that is, to gather them all in a goal location. We assume the robots do not have a map of the environment, but instead use short-range network communications and local sensing to physically route themselves towards the goal location. Since the robot's motion can disrupt robots network communication and localization in complex environments, we desire an algorithm that can maintain connectivity while preserving efficient operation. Our approach constructs a spanning tree for physical routing, but only allows the leaves of this tree to navigate the goal location. This distributed maximum-leaf spanning tree (DMLST) ensures connectivity, while providing an efficient recovery by allowing the maximum number of robots to be mobile. We present empirical results on the competitive ratio of the DMLST and it is very good, approaching the optimal solution for our communication network. DMLST recovery has been tested in simulation, and implemented on a system of thirteen robots. While a basic recovery fails in all experiments, the DMLST recovery succeeds efficiently in most trials.

关键词： Recovery

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Evolving Aggregation Behaviors in Multi-Robot Systems with Binary Sensors 11

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11th International Symposium on Distributed Autonomous Robotic Systems (DARS)

作者： Gauci, Melvin Chen, Jianing Dodd, Tony J. Gross, Roderich Univ Sheffield Dept Automat Control & Syst Engn Sheffield S10 2TN S Yorkshire England

ISBN: (纸本)9783642551468;9783642551451

This paper investigates a non-traditional sensing trade-off in swarm robotics: one in which each robot has a relatively long sensing range, but processes a minimal amount of information. Aggregation is used as a case study, where randomly-placed robots are required to meet at a common location without using environmental cues. The binary sensor used only lets a robot know whether or not there is another robot in its direct line of sight. Simulation results with both a memoryless controller (reactive) and a controller with memory (recurrent) prove that this sensor is enough to achieve error-free aggregation, as long as a sufficient sensing range is provided. The recurrent controller gave better results in simulation, and a post-evaluation with it shows that it is able to aggregate at least 1000 robots into a single cluster consistently. Simulation results also show that, with the recurrent controller, false negative noise on the sensor can speed up the aggregation process. The system has been implemented on 20 physical e-puck robots, and systematic experiments have been performed with both controllers: on average, 86-89% of the robots aggregated into a single cluster within 10 minutes.

关键词： Controllers

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