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

共 918 条记录，以下是281-290 订阅

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Adaptive Multi-Robot Coverage of Curved Surfaces 11

引用

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

作者： Breitenmoser, Andreas Sommer, Hannes Siegwart, Roland ETH Autonomous Syst Lab ASL Tannenstr 3 CH-8092 Zurich Switzerland

ISBN: (纸本)9783642551468;9783642551451

This paper presents two adaptive coverage algorithms for the deployment of multiple robots into discrete partitions over curved surfaces. The algorithms compute a metric tensor field locally on the surface in order to shape the robots' partitions in position, size, orientation and aspect ratio according to the present anisotropy. The coverage algorithms are further incorporated into a hybrid coverage method for the complete coverage of surface areas. Each robot iteratively deploys and adapts the partition, then subsequently sweeps its assigned area. The algorithms are demonstrated in simulations on different mesh models, including meshes reconstructed from real laser point cloud data.

关键词： Aspect ratio

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Multi-Robot Control for Circumnavigation of Particle Distributions 11

引用

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

作者： Tang, Sarah Shinzaki, Dylan Lowe, Christopher G. Clark, Christopher M. Princeton Univ Princeton NJ 08544 USA Stanford Univ Stanford CA 94305 USA CSU Long Beach Long Beach CA USA Harvey Mudd Coll Claremont CA 91711 USA

ISBN: (纸本)9783642551468;9783642551451

In this work, we present a decentralized controller for the tracking and following of mobile targets, specifically addressing considerations of: 1) not altering target behavior, 2) target states represented by multiple hypotheses, and 3) limited information from bearing-only sensors. The proposed controller drives a team of n robots to circumnavigate an arbitrary distribution of target points at a desired radius from the targets. The controller also dictates robot spacing around their circular trajectory by tracking a desired relative phase angle between neighbors. Simulation results show the functionality of the controller for arbitrary-sized teams and arbitrary stationary and moving particle distributions. Additionally, the controller was implemented on OceanServer Iver2 AUVs. Tracking results demonstrate the controller's capability to track a desired radius as well as maintain phase with respect to a second AUV.

关键词： Controllers

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A Stochastic Optimal Enhancement of Feedback Control for Unicycle Formations 11

引用

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

作者： Anderson, Ross P. Milutinovic, Dejan Univ Calif Santa Cruz 1156 High St Santa Cruz CA 95064 USA

ISBN: (纸本)9783642551468;9783642551451

We consider an optimal feedback control approach for multiple nonholonomic vehicles to achieve a distance-based formation with their neighbors using only local observations. Beginning with a non-optimal feedback formation control, each agent determines an additive correction term to its non-optimal control based on an elliptic Hamilton-Jacobi-Bellman equation so that its actions are optimal and robust to uncertainty. In order to avoid offline spatial discretization of the stationary, high-dimensional cost-to-go function, we exploit the stochasticity of the distributed nature of the problem to develop an equivalent estimation problem in a continuous state space using a path integral representation. Consequently, each agent independently computes its optimal feedback control using a discrete-time Unscented Kalman smoother. Our approach is illustrated by a numerical example in which five agents achieve a pentagon with aligned and equal velocities.

关键词： Feedback control

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Visual Control of Wheeled Mobile Robots 2014

引用

丛书名： springer tracts in advanced robotics

2014年

作者： Héctor . M Becerra Carlos Sagüés

ISBN: (数字)9783319057835

ISBN: (纸本)9783319057828

Vision-based control of wheeled mobile robots is an interesting field of research from a scientific and even social point of view due to its potential applicability. This book presents a formal treatment of some aspects of control theory applied to the problem of vision-based pose regulation of wheeled mobile robots. In this problem, the robot has to reach a desired position and orientation, which are specified by a target image. It is faced in such a way that vision and control are unified to achieve stability of the closed loop, a large region of convergence, without local minima and good robustness against parametric uncertainty. Three different control schemes that rely on monocular vision as unique sensor are presented and evaluated experimentally. A common benefit of these approaches is that they are valid for imaging systems obeying approximately a central projection model, e.g., conventional cameras, catadioptric systems and some fisheye cameras. Thus, the presented control schemes are generic approaches. A minimum set of visual measurements, integrated in adequate task functions, are taken from a geometric constraint imposed between corresponding image features. Particularly, the epipolar geometry and the trifocal tensor are exploited since they can be used for generic scenes. A detailed experimental evaluation is presented for each control scheme.

关键词： Robot vision. Mobile robots. Robots Control systems.

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A One-Hour Curriculum to Engage Middle School Students in robotics and Computer Science Using Cubelets 11

引用

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

作者： Correll, Nikolaus Wailes, Chris Slaby, Scott Univ Colorado Dept Comp Sci Boulder CO 80309 USA Angevine Middlesch Lafayette Colorado Springs CO USA

ISBN: (纸本)9783642551468;9783642551451

robotics has become a standard K-12 outreach tool and for attracting students to the STEM disciplines. Performing these activities in the class room usually requires substantial time commitment by the teacher and integration into the curriculum requires major effort, which makes spontaneous and short-term engagements difficult. This paper studies using "Cubelets", a modular robotic construction kit, which requires virtually no setup time and allows substantial engagement and change of perception of STEM in as little as a 1-hour session. This paper describes the constructivist curriculum and provides qualitative and quantitative results on perception changes with respect to STEM and computer science in particular as a field of study.

关键词： Curricula

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Approaches to Probabilistic Model Learning for Mobile Manipulation Robots 2013

引用

丛书名： springer tracts in advanced robotics

2013年

作者： Jürgen Sturm

This book presents techniques that enable mobile manipulation robots to autonomously adapt to new situations. Covers kinematic modeling and learning; self-calibration; tactile sensing and object recognition; imitation... 详细信息

ISBN: (数字)9783642371608

ISBN: (纸本)9783642371592

关键词： Autonomous robots. Machine learning. Mobile robots

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Algorithmic Foundations of robotics X 2013

引用

丛书名： springer tracts in advanced robotics

2013年

作者： Emilio Frazzoli Tomas Lozano-Perez Nicholas Roy Daniela Rus

ISBN: (数字)9783642362798

ISBN: (纸本)9783642362781

Algorithms are a fundamental component of robotic systems. Robot algorithms process inputs from sensors that provide noisy and partial data, build geometric and physical models of the world, plan high-and low-level actions at different time horizons, and execute these actions on actuators with limited precision. The design and analysis of robot algorithms raise a unique combination of questions from many elds, including control theory, computational geometry and topology, geometrical and physical modeling, reasoning under uncertainty, probabilistic algorithms, game theory, and theoretical computer science. The Workshop on Algorithmic Foundations of robotics (WAFR) is a single-track meeting of leading researchers in the eld of robot algorithms. Since its inception in 1994, WAFR has been held every other year, and has provided one of the premiere venues for the publication of some of the eld's most important and lasting contributions. This books contains the proceedings of the tenth WAFR, held on June 13{15 2012 at the Massachusetts Institute of Technology. The 37 papers included in this book cover a broad range of topics, from fundamental theoretical issues in robot motion planning, control, and perception, to novel applications.

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Introduction to Humanoid robotics 1

引用

丛书名： springer tracts in advanced robotics

2014年

作者： Shuuji Kajita, Hirohisa Hirukawa, Kensuke Harada, Kazuhito Yokoi (auth.)

ISBN: (数字)9783642545368

ISBN: (纸本)9783642545351;9783642545368

This book is for researchers, engineers, and students who are willing to understand how humanoid robots move and be controlled. The book starts with an overview of the humanoid robotics research history and state of the art. Then it explains the required mathematics and physics such as kinematics of multi-body system, Zero-Moment Point (ZMP) and its relationship with body motion. Biped walking control is discussed in depth, since it is one of the main interests of humanoid robotics. Various topics of the whole body motion generation are also discussed. Finally multi-body dynamics is presented to simulate the complete dynamic behavior of a humanoid robot. Throughout the book, Matlab codes are shown to test the algorithms and to help the readers understanding.

关键词： robotics.

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Mechanics of Localized Slippage in Tactile Sensing: And Application to Soft Sensing Systems 1

引用

丛书名： springer tracts in advanced robotics

2014年

作者： Anh-Van Ho, Shinichi Hirai (auth.)

ISBN: (数字)9783319041230

ISBN: (纸本)9783319041223;9783319041230

Localized slippage occurs during any relative sliding of soft contacts, ranging from human fingertips to robotic fingertips. Although this phenomenon is dominant for a very short time prior to gross slippage, localized slippage is a crucial factor for any to-be-developed soft sensing system to respond to slippage before it occurs. The content of this book addresses all aspects of localized slippage, including modeling and simulating it, as well as applying it to the construction of novel sensors with slip tactile perception.

关键词： Robot hands. Tactile sensors. Engineering

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Robust Multi-robot Team Formations Using Weighted Voting Games

Robust Multi-robot Team Formations Using Weighted Voting Gam...

引用

10th International Symposium on Distributed Autonomous Robotic Systems

作者： Dasgupta, Prithviraj Cheng, Ke Univ Nebraska Dept Comp Sci Omaha NE 68182 USA

ISBN: (纸本)9783642327223

We consider the problem of distributed multi-robot team formation including the dynamic reconfiguration of robot teams after encountering obstacles. We describe a distributed robot team reconfiguration algorithm, DYN-REFORM, that uses a game-theoretic technique of team formation called weighted voting games(WVGs) along with a flocking-based formation control mechanism. DYN-REFORM works without explicit knowledge of global features such as the presence of obstacles in the environment or the number and location of all other robots in the system. It uses the locally computed metrics of each robot in the team to determine whether a team needs to split or two teams need to merge during reconfiguration. We have tested team reconfiguration using the DYN-REFORM algorithm experimentally within the Webots simulator using teams of e-puck robots of different sizes and with different obstacle geometries. We have also shown that using robots coordinated with the DYN-REFORM algorithm for a distributed area-coverage application improves the coverage performance.(1)

关键词： Industrial robots

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