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

共 918 条记录，以下是341-350 订阅

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Real-time photorealistic virtualized reality interface for remote mobile robot control

Real-time photorealistic virtualized reality interface for r...

引用

14th International Symposium on robotics Research (ISSR)

作者： Kelly, Alonzo Chan, Nicholas Herman, Herman Huber, Daniel Meyers, Robert Rander, Pete Warner, Randy Ziglar, Jason Capstick, Erin Carnegie Mellon Univ Inst Robot Pittsburgh PA 15213 USA DCS Corp Alexandria VA USA

ISBN: (纸本)9783642194566

The task of teleoperating a robot over a wireless video link is known to be very difficult. Teleoperation becomes even more difficult when the robot is surrounded by dense obstacles, or speed requirements are high, or video quality is poor, or wireless links are subject to latency. Due to high-quality lidar data, and improvements in computing and video compression, virtualized reality has the capacity to dramatically improve teleoperation performance - even in high-speed situations that were formerly impossible. In this paper, we demonstrate the conversion of dense geometry and appearance data, generated on-the-move by a mobile robot, into a photorealistic rendering model that gives the user a synthetic exterior line-of-sight view of the robot, including the context of its surrounding terrain. This technique converts teleoperation into virtual line-of-sight remote control. The underlying metrically consistent environment model also introduces the capacity to remove latency and enhance video compression. Display quality is sufficiently high that the user experience is similar to a driving video game where the surfaces used are textured with live video.

关键词： Virtual reality mobile robot teleoperation human interface latency compensation compression

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Generality and Simple Hands

Generality and Simple Hands

引用

14th International Symposium on robotics Research (ISSR)

作者： Mason, Matthew T. Srinivasa, Siddhartha S. Vazquez, Andres S. Carnegie Mellon Univ Pittsburgh PA 15213 USA Intel Res Pittsburgh PA USA Univ Castilla La Mancha Mancha Spain

ISBN: (纸本)9783642194566

While complex hands seem to offer generality, simple hands are more practical for most robotic and telerobotic manipulation tasks, and will remain so for the foreseeable future. This raises the question: how do generality and simplicity trade off in the design of robot hands? This paper explores the tension between simplicity in hand design and generality in hand function. It raises arguments both for and against simple hands;it considers several familiar examples;and it proposes a concept for a simple hand design with associated strategies for grasping and object localization. The central idea is to use knowledge of stable grasp poses as a cue for object localization. This leads to some novel design criteria, such as a desire to have only a few stable grasp poses. We explore some of the design implications for a binpicking task, and then examine some experimental results to see how this approach might be applied in an assistive object retrieval task.

关键词： Machine design

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Unifying geometric, probabilistic, and potential field approaches to multi-robot deployment

Unifying geometric, probabilistic, and potential field appro...

引用

14th International Symposium on robotics Research (ISSR)

作者： Schwager, Mac Rus, Daniela Slotine, Jean-Jacques Univ Penn GRASP Lab Philadelphia PA 19106 USA MIT Comp Sci & Artificial Intelligence Lab Cambridge MA 02139 USA MIT Nonlinear Syst Lab Cambridge MA 02139 USA

ISBN: (纸本)9783642194566

This paper unifies and extends several different existing strategies for deploying groups of robots in an environment. A cost function is proposed that can be specialized to represent widely different multi-robot deployment tasks. It is shown that geometric and probabilistic deployment strategies that were previously seen as distinct are in fact related through this cost function, and differ only in the value of a single parameter. These strategies are also related to potential field-based controllers through the same cost function, though the relationship is not as simple. Distributed controllers are then obtained from the gradient of the cost function and are proved to converge to a local minimum of the cost function. Three special cases are derived as examples: a Voronoi-based coverage control task, a probabilistic minimum variance task, and a task using artificial potential fields. The performance of the three different controllers are compared in simulation. A result is also proved linking multi-robot deployment to non-convex optimization problems, and multi-robot consensus (i.e. all robots moving to the same point) to convex optimization problems, which implies that multi-robot deployment is inherently more difficult than multi-robot consensus.

关键词： Multi-agent systems coverage control Voronoi tessellations consensus distributed optimization convexity

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Energy-Efficient Data Collection from Wireless Nodes Using Mobile Robots

Energy-Efficient Data Collection from Wireless Nodes Using M...

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14th International Symposium on robotics Research (ISSR)

作者： Tekdas, Onur Karnad, Nikhil Isler, Volkan Univ Minnesota Dept Comp Sci & Engn Minneapolis MN 55414 USA

ISBN: (纸本)9783642194566

This work focuses on systems where mobile robots periodically collect data from (static) wireless sensor network nodes. Suppose we are given approximate locations of the static nodes, and an order with which the robot will visit these nodes. We present solutions to the following problems. (i) From the static node's perspective: given the stochastic nature of the robot's arrival, what is an energy-efficient strategy to send beacon messages? Such a strategy must simultaneously minimize the robot's waiting time and the number of beacon messages. (ii) From the robot's perspective: given the stochastic nature of the wireless link quality, what is an energy-efficient motion strategy to find a good pose (location and orientation) from where the data can be downloaded efficiently? The robot must be able to find such a location quickly but without taking too many measurements so as to conserve the static node's energy. For the first problem, we present an optimal algorithm based on dynamic programming. For the second problem, we present an efficient, data-driven heuristic based on experiments. Finally, we present a system implementation for an indoor data collection application, and validate our results on this system.

关键词： Location

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Estimating Ego-Motion in Panoramic Image Sequences with Inertial Measurements

Estimating Ego-Motion in Panoramic Image Sequences with Iner...

引用

14th International Symposium on robotics Research (ISSR)

作者： Schill, Felix Mahony, Robert Corke, Peter Australian Natl Univ Dept Engn GPO Box 4 Canberra ACT 0200 Australia CSIRO ICT Ctr Pullenvale Qld Australia

ISBN: (纸本)9783642194566

This paper considers the problem of estimating the focus of expansion of optical flow fields from panoramic image sequences due to ego-motion of the camera. The focus of expansion provides a measurement of the direction of motion of the vehicle that is a key requirement for implementing obstacle avoidance algorithms. We propose a two stage approach to this problem. Firstly, external angular rotation measurements provided by an on-board inertial measurement unit are used to de-rotate the observed optic flow field. Then a robust statistical method is applied to provide an estimate of the focus of expansion as well as a selection of inlier data points associated with the hypothesis. This is followed by a least squares minimisation, utilising only the inlier data, that provides accurate estimates of residual angular rotation and focus of expansion of the flow. The least squares optimisation is solved using a geometric Newton algorithm. For the robust estimator we consider and compare RANSAC and a k-means algorithm. The approach in this paper does not require explicit features, and can be applied to patchy, noisy sparse optic flow fields. The approach is demonstrated in simulations and on video data obtained from an aerial robot equipped with panoramic cameras.

关键词： Flow fields

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Towards the Robotic Co-Worker

Towards the Robotic Co-Worker

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14th International Symposium on robotics Research (ISSR)

作者： Haddadin, Sami Suppa, Michael Fuchs, Stefan Bodenmueller, Tim Albu-Schaeffer, Alin Hirzinger, Gerd DLR EV German Aerosp Ctr Inst Robot & Mechatron D-82230 Wessling Germany

ISBN: (纸本)9783642194566

Recently, robots have gained capabilities in both sensing and actuation, which enable operation in the proximity of humans. Even direct physical interaction has become possible without suffering the decrease in speed and payload. The DLR Lightweight Robot III (LWR-III), whose technology is currently being transferred to the robot manufacturer KUKA Roboter GmbH, is such a device capable of realizing various features crucial for direct interaction with humans. Impedance control and collision detection with adequate reaction are key components for enabling "soft and safe" robotics. The implementation of a sensor based robotic co-worker that brings robots closer to humans in industrial settings and achieve close cooperation is an important goal in robotics. Despite being a common vision in robotics it has not become reality yet, as there are various open questions still to be answered. In this paper a sound concept and a prototype implementation of a co-worker scenario are developed in order to demonstrate that state-of-the-art technology is now mature enough to reach this aspiring aim. We support our ideas by addressing the industrially relevant bin-picking problem with the LWR-III, which is equipped with a Time-of-Flight camera for object recognition and the DLR 3D-Modeller for generating accurate environment models. The paper describes the sophisticated control schemes of the robot in combination with robust computer vision algorithms, which lead to a reliable solution for the addressed problem. Strategies are devised for safe interaction with the human during task execution, state depending robot behavior, and the appropriate mechanisms, to realize robustness in partially unstructured environments.

关键词： Object recognition

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Design and Development of an Optimal-Control-Based Framework for Trajectory Planning, Threat Assessment, and Semi-autonomous Control of Passenger Vehicles in Hazard Avoidance Scenarios

Design and Development of an Optimal-Control-Based Framework...

引用

14th International Symposium on robotics Research (ISSR)

作者： Anderson, Sterling J. Peters, Steven C. Pilutti, Tom E. Iagnemma, Karl MIT Dept Mech Engn 77 Massachusetts Ave Cambridge MA 02139 USA Ford Res Lab Dearborn MI USA

ISBN: (纸本)9783642194566

This paper describes the design of an optimal-control-based active safety framework that performs trajectory planning, threat assessment, and semi-autonomous control of passenger vehicles in hazard avoidance scenarios. This framework allows for multiple actuation modes, diverse trajectory-planning objectives, and varying levels of autonomy. A model predictive controller iteratively plans a best-case vehicle trajectory through a navigable corridor as a constrained optimal control problem. The framework then uses this trajectory to assess the threat posed to the vehicle and intervenes in proportion to this threat. This approach minimizes controller intervention while ensuring that the vehicle does not depart from a navigable corridor of travel. Simulation and experimental results are presented here to demonstrate the framework's ability to incorporate configurable intervention laws while sharing control with a human driver.

关键词： Trajectories

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Autonomy through SLAM for an Underwater Robot

Autonomy through SLAM for an Underwater Robot

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14th International Symposium on robotics Research (ISSR)

作者： Folkesson, John Leonard, John MIT Cambridge MA 02139 USA

ISBN: (纸本)9783642194566

An autonomous underwater vehicle (AUV) is achieved that integrates state of the art simultaneous localization and mapping (SLAM) into the decision processes. This autonomy is used to carry out undersea target reacquisition missions that would otherwise be impossible with a low-cost platform. The AUV requires only simple sensors and operates without navigation equipment such as Doppler Velocity Log, inertial navigation or acoustic beacons. Demonstrations of the capability show that the vehicle can carry out the task in an ocean environment. The system includes a forward looking sonar and a set of simple vehicle sensors. The functionality includes feature tracking using a graphical square root smoothing SLAM algorithm, global localization using multiple EKF estimators, and knowledge adaptive mission execution. The global localization incorporates a unique robust matching criteria which utilizes both positive and negative information. Separate match hypotheses are maintained by each EKF estimator allowing all matching decisions to be reversible.

关键词： Autonomous underwater vehicles

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Coordinating Construction of Truss Structures Using Distributed Equal-Mass Partitioning

Coordinating Construction of Truss Structures Using Distribu...

引用

14th International Symposium on robotics Research (ISSR)

作者： Yun, Seung-kook Schwager, Mac Rus, Daniela MIT Comp Sci & Artificial Intelligence Lab Cambridge MA 02139 USA

ISBN: (纸本)9783642194566

This paper presents a decentralized algorithm for the coordinated assembly of 3D objects that consist of multiple types of parts, using a networked team of robots. We describe the algorithm and analyze its stability and adaptation properties. We instantiate the algorithm to building truss-like objects using rods and connectors. We implement the algorithm in simulation and show results for constructing 2D and 3D parts. Finally, we discuss briefly preliminary hardware results.

关键词： Trusses

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Reciprocal n-Body Collision Avoidance

Reciprocal <i>n</i>-Body Collision Avoidance

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14th International Symposium on robotics Research (ISSR)

作者： van den Berg, Jur Guy, Stephen J. Lin, Ming Manocha, Dinesh Univ N Carolina Dept Comp Sci Chapel Hill NC 27515 USA

ISBN: (纸本)9783642194566

In this paper, we present a formal approach to reciprocal n-body collision avoidance, where multiple mobile robots need to avoid collisions with each other while moving in a common workspace. In our formulation, each robot acts fully independently, and does not communicate with other robots. Based on the definition of velocity obstacles [5], we derive sufficient conditions for collision-free motion by reducing the problem to solving a low-dimensional linear program. We test our approach on several dense and complex simulation scenarios involving thousands of robots and compute collision-free actions for all of them in only a few milliseconds. To the best of our knowledge, this method is the first that can guarantee local collision-free motion for a large number of robots in a cluttered workspace.

关键词： Collision avoidance

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