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

共 918 条记录，以下是311-320 订阅

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On Fault Tolerance and Scalability of Swarm Robotic Systems

On Fault Tolerance and Scalability of Swarm Robotic Systems

引用

10th International Symposium on Distributed Autonomous Robotic Systems

作者： Bjerknes, Jan Dyre Winfield, Alan F. T. Univ W England Bristol Robot Lab Bristol BS16 1QY Avon England

ISBN: (纸本)9783642327223

This paper challenges the common assumption that swarm robotic systems are robust and scalable by default. We present an analysis based on both reliability modelling and experimental trials of a case study swarm performing team work, in which failures are deliberately induced. Our case study has been carefully chosen to represent a swarm task in which the overall desired system behaviour is an emergent property of the interactions between robots, in order that we can assess the fault tolerance of a self-organising system. Our findings show that in the presence of worst-case partially failed robots the overall system reliability quickly falls with increasing swarm size. We conclude that future large scale swarm systems will need a new approach to achieving high levels of fault tolerance.

关键词： Fault tolerance

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Efficient 3D Scene Modeling and Mosaicing 2013

引用

丛书名： springer tracts in advanced robotics

2013年

作者： Tudor Nicosevici Rafael Garcia

ISBN: (数字)9783642364181

ISBN: (纸本)9783642364174

This book proposes a complete pipeline for monocular (single camera) based 3D mapping of terrestrial and underwater environments. The aim is to provide a solution to large-scale scene modeling that is both accurate and efficient. To this end, we have developed a novel Structure from Motion algorithm that increases mapping accuracy by registering camera views directly with the maps. The camera registration uses a dual approach that adapts to the type of environment being mapped. In order to further increase the accuracy of the resulting maps, a new method is presented, allowing detection of images corresponding to the same scene region (crossovers). Crossovers then used in conjunction with global alignment methods in order to highly reduce estimation errors, especially when mapping large areas. Our method is based on Visual Bag of Words paradigm (BoW), offering a more efficient and simpler solution by eliminating the training stage, generally required by state of the art BoW algorithms. Also, towards developing methods for efficient mapping of large areas (especially with costs related to map storage, transmission and rendering in mind), an online 3D model simplification algorithm is proposed. This new algorithm presents the advantage of selecting only those vertices that are geometrically representative for the scene.

关键词： Robot vision Three-dimensional imaging

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Distributed Algebraic Connectivity Maximization for Robotic Networks: A Heuristic Approach

Distributed Algebraic Connectivity Maximization for Robotic ...

引用

10th International Symposium on Distributed Autonomous Robotic Systems

作者： Simonetto, Andrea Keviczky, Tamas Babuska, Robert Delft Univ Technol Delft Ctr Syst & Control NL-2628 CD Delft Netherlands

ISBN: (纸本)9783642327223

We consider a weighted communication graph in a network of mobile robots, and its associated Laplacian whose entries depend on the pairwise distance between the robots. We propose a heuristic distributed solution for the maximization of the algebraic connectivity of the graph by moving the robots to appropriate positions. Our approach is optimization-based and can be extended to handle various "constraints, such as the robots' dynamics. Our proposed distributed solution uses local algorithms that utilize information only from nearby neighboring robots. Numerical simulations show the applicability and effectiveness of the algorithm and indicate that in certain cases the proposed distributed solution can perform better than the centralized version.

关键词： Robots

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Semantic 3D Object Maps for Everyday Robot Manipulation 1

引用

丛书名： springer tracts in advanced robotics

2013年

作者： Radu Bogdan Rusu (auth.)

ISBN: (数字)9783642354793

ISBN: (纸本)9783642354786;9783642354793

The book written by Dr. Radu B. Rusu presents a detailed description of 3D Semantic Mapping in the context of mobile robot manipulation. As autonomous robotic platforms get more sophisticated manipulation capabilities, they also need more expressive and comprehensive environment models that include the objects present in the world, together with their position, form, and other semantic aspects, as well as interpretations of these objects with respect to the robot tasks. The book proposes novel 3D feature representations called Point Feature Histograms (PFH), as well as a frameworks for the acquisition and processing of Semantic 3D Object Maps with contributions to robust registration, fast segmentation into regions, and reliable object detection, categorization, and reconstruction. These contributions have been fully implemented and empirically evaluated on different robotic systems, and have been the original kernel to the widely successful open-source project the Point Cloud Library (PCL) -- see http://***.

关键词： Autonomous robots Robots Semantic Web Three-dimensional imaging

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Sensor-Coupled Fractal Gene Regulatory Networks for Locomotion Control of a Modular Snake Robot

Sensor-Coupled Fractal Gene Regulatory Networks for Locomoti...

引用

10th International Symposium on Distributed Autonomous Robotic Systems

作者： Zahadat, Payam Christensen, David Johan Katebi, Serajeddin Stoy, Kasper Univ So Denmark Maersk Mc Kinney Moller Inst Modular Robot Lab Campusvej 55 DK-5230 Odense M Denmark Shiraz Univ Sch Engn Dept Comp Sci & Engn Shiraz Iran

ISBN: (纸本)9783642327223

In this paper we study fractal gene regulatory network (FGRN) controllers based on sensory information. The FGRN controllers are evolved to control a snake robot consisting of seven simulated ATRON modules. Each module contains three tilt sensors which represent the direction of gravity in the coordination system of the module. The modules are controlled locally and there is no explicit communication between them. So, they can synchronize implicitly using their sensors, and coordination of their behavior takes place through the environment. In one of our experiments, all the three tilt sensors are available for the FGRNs and a simple controller is evolved. The controller is a linear mapping of one input sensor to the output. It is only based on one sensor input and ignores the other sensors as well as the regulatory part of the network. In another experiment, the controller's input uses one of the other sensors that carries less information. In this case, the evolved controller blends sensory information with the regulatory network capabilities to come up with a proper distributed controller.

关键词： Controllers

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A Low-Cost Multi-robot System for Research, Teaching, and Outreach

A Low-Cost Multi-robot System for Research, Teaching, and Ou...

引用

10th International Symposium on Distributed Autonomous Robotic Systems

作者： McLurkin, James Lynch, Andrew J. Rixner, Scott Barr, Thomas W. Chou, Alvin Foster, Kathleen Bilstein, Siegfried Rice Univ Houston TX 77251 USA

ISBN: (纸本)9783642327223

We describe a new low-cost robot design that enables large-scale multi-robot research, innovative new curriculum, and multi-robotics outreach to younger students. There are four main parts to the system: the r-one robot, a Python development environment, a camera tracking system for ground-truth localization, and server software to connect all the pieces together. This paper presents our preliminary work on the robot design and our experience using it to teach an introductory engineering class. The hardware can support classes in computer science, electrical engineering, and mechanical engineering. The low-cost and small size will enable more research groups to perform multi-robot experiments on physical hardware. The Python development environment greatly simplifies programming and will make robotics more accessible to a larger group of educators, students, and researchers.

关键词： Python

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Utilizing Stochastic Processes for Computing Distributions of Large-Size Robot Population Optimal Centralized Control

Utilizing Stochastic Processes for Computing Distributions o...

引用

10th International Symposium on Distributed Autonomous Robotic Systems

作者： Milutinovic, Dejan Univ Calif Santa Cruz Dept Appl Math & Stat Baskin Sch Engn Santa Cruz CA 95064 USA

ISBN: (纸本)9783642327223

Motivated by the success of stochastic process sampling methods in solving complex estimation problems, we explore the possibility to utilize stochastic processes for computing optimal control for a large-size robot population. We assume that the individual robot state is composed of discrete and continuous components, while the population is controlled in a probability space. The optimal control solution is based on an infinite dimensional Pontryagin-like minimum principle, which involves an evaluation of systems of partial differential equations. The paper shows that these equations can be evaluated with computations involving stochastic process samples. This is an important result because generating stochastic process multi-dimensional trajectories is much easier than solving corresponding multi-dimensional partial differential equations. The proposed evaluations are illustrated and verified by an example of the centralized optimal control for a large-size robot population.

关键词： Random processes

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Cooperative Distributed Object Tracking by Multiple Robots Based on Feature Selection

Cooperative Distributed Object Tracking by Multiple Robots B...

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10th International Symposium on Distributed Autonomous Robotic Systems

作者： Umeda, Takayuki Sekiyama, Kosuke Fukuda, Toshio Nagoya Univ Dept Micronano Syst Engn Chikusa Ku Nagoya Aichi 4648601 Japan

ISBN: (纸本)9783642327223

This paper proposes a cooperative visual object tracking by multi-robot system, where robust cognitive sharing is essential between the robots. However, one of the main issues in vision-based distributed observation is the significant differences in the background image for the interested object. According to the observing point of the robot, effective invariant feature to identify the interested object is different. In this paper, we propose an ambiguity index to select better feature algorithm for object tracking. Experimental result shows promising result for the effective multi-robot cognitive sharing.

关键词： Industrial robots

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Socially-Mediated Negotiation for Obstacle Avoidance in Collective Transport

Socially-Mediated Negotiation for Obstacle Avoidance in Coll...

引用

10th International Symposium on Distributed Autonomous Robotic Systems

作者： Ferrante, Eliseo Brambilla, Manuele Birattari, Mauro Dorigo, Marco Univ Libre Bruxelles IRIDIA CoDE Brussels Belgium

ISBN: (纸本)9783642327223

In this paper, we present a novel method for performing collective transport in the presence of obstacles. Three robots are physically connected to an object to be transported from a start to a goal location. The task is particularly challenging because the robots have a heterogeneous perception of the environment. In fact, the goal and the obstacles can be perceived only by some of the robots. Hence, the task requires appropriate negotiation of the direction among the robots. We developed a novel negotiation strategy in order to tackle this challenge. We perform experiments in simulation. In the experiments, we analyze efficiency in an environment with only one obstacle, and robustness in an environment with several obstacles.

关键词： Robots

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Hierarchical Planning for Self-reconfiguring Robots Using Module Kinematics

Hierarchical Planning for Self-reconfiguring Robots Using Mo...

引用

10th International Symposium on Distributed Autonomous Robotic Systems

作者： Fitch, Robert McAllister, Rowan Univ Sydney ARC Ctr Excellence Autonomous Syst Australian Ctr Field Robot Sydney NSW 2006 Australia

ISBN: (纸本)9783642327223

Reconfiguration allows a self-reconfiguring modular robot to adapt to its environment. The reconfiguration planning problem is one of the key algorithmic challenges in realizing self-reconfiguration. Many existing successful approaches rely on grouping modules together to act as meta-modules. However, we are interested in reconfiguration planning that does not impose fixed meta-module relationships but instead forms cooperative relationships between modules dynamically. This approach avoids the need to hand-code meta-module motions and potentially allows reconfiguration with fewer modules. In this paper we present a general two-level reconfiguration framework. The top level plans in module-connector space using distributed dynamic programming. The lower level accepts a transition function for the kinematic model of the chosen module type as input. As an example, we implement such a transition function for the 3R, SuperBot-style module. Although not explored in this paper, this general approach is naturally extended to consider power use, clock time, or other quantities of interest.

关键词： Dynamic programming

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