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

共 918 条记录，以下是31-40 订阅

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Rosbridge: ROS for Non-ROS Users 15th

Rosbridge: ROS for Non-ROS Users

引用

15th International Symposium of robotics Research (ISRR)

作者： Crick, Christopher Jay, Graylin Osentoski, Sarah Pitzer, Benjamin Jenkins, Odest Chadwicke Oklahoma State Univ Stillwater OK 74078 USA Red Hat Inc Brisbane Qld Australia Mayfield Robot Redwood City CA USA Google Mountain View CA USA Univ Michigan Ann Arbor MI 48109 USA

ISBN: (纸本)9783319293639;9783319293622

We present rosbridge, a middleware abstraction layer which provides robotics technology with a standard, minimalist applications development framework accessible to applications programmers who are not themselves roboticists. Rosbridge provides a simple, socket-based programmatic access to robot interfaces and algorithms provided (for now) by ROS, the open-source "Robot Operating System", the current state-of-the-art in robot middleware. In particular, it facilitates the use of web technologies such as Javascript for the purpose of broadening the use and usefulness of robotic technology. We demonstrate potential applications in the interface design, education, human-robot interaction and remote laboratory environments.

关键词： Robot Operating System

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Path Planning with Loop Closure Constraints Using an Atlas-Based RRT 15th

Path Planning with Loop Closure Constraints Using an Atlas-B...

引用

15th International Symposium of robotics Research (ISRR)

作者： Jaillet, Leonard Porta, Josep M. CSIC UPC Inst Robot & Informat Ind Llorens & Artigas 4-6 Barcelona Spain

ISBN: (纸本)9783319293639;9783319293622

In many relevant path planning problems, loop closure constraints reduce the configuration space to a manifold embedded in the higher-dimensional joint ambient space. Whereas many progresses have been done to solve path planning problems in the presence of obstacles, only few work consider loop closure constraints. In this paper we present the AtlasRRT algorithm, a planner specially tailored for such constrained systems that builds on recently developed tools for higher-dimensional continuation. These tools provide procedures to define charts that locally parametrize manifolds and to coordinate them forming an atlas. AtlasRRT simultaneously builds an atlas and a Rapidly-Exploring Random Tree (RRT), using the atlas to sample relevant configurations for the RRT, and the RRT to devise directions of expansion for the atlas. The new planner is advantageous since samples obtained from the atlas allow a more efficient extension of the RRT than state of the art approaches, where samples are generated in the joint ambient space.

关键词： Motion planning

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Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera 15th

Visual Odometry and Mapping for Autonomous Flight Using an R...

引用

15th International Symposium of robotics Research (ISRR)

作者： Huang, Albert S. Bachrach, Abraham Henry, Peter Krainin, Michael Maturana, Daniel Fox, Dieter Roy, Nicholas MIT Comp Sci & Artificial Intelligence Lab 77 Massachusetts Ave Cambridge MA 02139 USA Univ Washington Dept Comp Sci & Engn Seattle WA 98195 USA Pontificia Univ Catolica Chile Dept Comp Sci Santiago Chile

ISBN: (纸本)9783319293639;9783319293622

RGB-D cameras provide both a color image and per-pixel depth estimates. The richness of their data and the recent development of low-cost sensors have combined to present an attractive opportunity for mobile robotics research. In this paper, we describe a system for visual odometry and mapping using an RGB-D camera, and its application to autonomous flight. By leveraging results from recent state-of-the-art algorithms and hardware, our system enables 3D flight in cluttered environments using only onboard sensor data. All computation and sensing required for local position control are performed onboard the vehicle, reducing the dependence on unreliable wireless links. We evaluate the effectiveness of our system for stabilizing and controlling a quadrotor micro air vehicle, demonstrate its use for constructing detailed 3D maps of an indoor environment, and discuss its limitations.

关键词： Cameras

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A Unified Perturbative Dynamics Approach to Online Vehicle Model Identification 15th

A Unified Perturbative Dynamics Approach to Online Vehicle M...

引用

15th International Symposium of robotics Research (ISRR)

作者： Seegmiller, Neal Rogers-Marcovitz, Forrest Miller, Greg Kelly, Alonzo Carnegie Mellon Univ Inst Robot Pittsburgh PA 15213 USA

ISBN: (纸本)9783319293639;9783319293622

The motions of wheeled mobile robots are governed by non-contact gravity forces and contact forces between the wheels and the terrain. Inasmuch as future wheel-terrain interactions are unpredictable and unobservable, high performance autonomous vehicles must ultimately learn the terrain by feel and extrapolate, just as humans do. We present an approach to the automatic calibration of dynamic models of arbitrary wheeled mobile robots on arbitrary terrain. Inputs beyond our control (disturbances) are assumed to be responsible for observed differences between what the vehicle was initially predicted to do and what it was subsequently observed to do. In departure from much previous work, and in order to directly support adaptive and predictive controllers, we concentrate on the problem of predicting candidate trajectories rather than measuring the current slip. The approach linearizes the nominal vehicle model and then calibrates the perturbative dynamics to explain the observed prediction residuals. Both systematic and stochastic disturbances are used, and we model these disturbances as functions over the terrain, the velocities, and the applied inertial and gravitational forces. In this way, we produce a model which can be used to predict behavior across all of state space for arbitrary terrain geometry. Results demonstrate that the approach converges quickly and produces marked improvements in the prediction of trajectories for multiple vehicle classes throughout the performance envelope of the platform, including during aggressive maneuvering.

关键词： Forecasting

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Autonomous Navigation of a Humanoid Robot Over Unknown Rough Terrain 15th

Autonomous Navigation of a Humanoid Robot Over Unknown Rough...

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15th International Symposium of robotics Research (ISRR)

作者： Nishiwaki, Koichi Chestnutt, Joel Kagami, Satoshi Natl Inst Adv Ind Sci & Technol Digital Human Res Ctr Koto Ku 2-3-26 Aomi Tokyo 1350064 Japan Japan Sci & Technol Agcy CREST Tokyo Japan Boston Dynam Inc 78 4th Ave Waltham MA 02451 USA

ISBN: (纸本)9783319293639;9783319293622

The present paper describes the integration of laser-based perception, footstep planning, and walking control of a humanoid robot for navigation over previously unknown rough terrain. A perception system that obtains the shape of the surrounding environment to an accuracy of a few centimeters is realized based on input obtained using a scanning laser range sensor. A footstep planner decides the sequence of stepping positions using the obtained terrain shape. A walking controller that can cope with a few centimeters error in terrain shape measurement is achieved by combining 40 ms cycle online walking pattern generation and a sensor feedback ground reaction force controller. An operation interface that was developed to send commands to the robot is also presented. A mixed-reality display is adopted in order to realize intuitive interfaces. The navigation system is implemented on the HRP-2, a full-size humanoid robot. The performance of the proposed system for navigation over unknown rough terrain is investigated through several experiments.

关键词： Anthropomorphic robots

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The Antiparticle Filter-An Adaptive Nonlinear Estimator 15th

The Antiparticle Filter-An Adaptive Nonlinear Estimator

引用

15th International Symposium of robotics Research (ISRR)

作者： Folkesson, John Royal Inst Technol KTH Ctr Autonomous Syst Stockholm Sweden

ISBN: (纸本)9783319293639;9783319293622

We introduce the antiparticle filter, AF, a new type of recursive Bayesian estimator that is unlike either the extended Kalman Filter, EKF, unscented Kalman Filter, UKF or the particle filter PF. We show that for a classic problem of robot localization the AF can substantially outperform these other filters in some situations. The AF estimates the posterior distribution as an auxiliary variable Gaussian which gives an analytic formula using no random samples. It adaptively changes the complexity of the posterior distribution as the uncertainty changes. It is equivalent to the EKF when the uncertainty is low while being able to represent non-Gaussian distributions as the uncertainty increases. The computation time can be much faster than a particle filter for the same accuracy. We have simulated comparisons of two types of AF to the EKF, the iterative EKF, the UKF, an iterative UKF, and the PF demonstrating that AF can reduce the error to a consistent accurate value.

关键词： Monte Carlo methods

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Motion Planning Under Uncertainty Using Differential Dynamic Programming in Belief Space 15th

Motion Planning Under Uncertainty Using Differential Dynamic...

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15th International Symposium of robotics Research (ISRR)

作者： van den Berg, Jur Patil, Sachin Alterovitz, Ron Univ N Carolina Dept Comp Sci Chapel Hill NC 27599 USA

ISBN: (纸本)9783319293639;9783319293622

We present an approach to motion planning under motion and sensing un-certainty, formally described as a continuous partially-observable Markov decision process (POMDP). Our approach is designed for non-linear dynamics and observation models, and follows the general POMDP solution framework in which we represent beliefs by Gaussian distributions, approximate the belief dynamics using an extended Kalman filter (EKF), and represent the value function by a quadratic function that is valid in the vicinity of a nominal trajectory through belief space. Using a variant of differential dynamic programming, our approach iterates with second-order convergence towards a linear control policy over the belief space that is locally-optimal with respect to a user-defined cost function. Unlike previous work, our approach does not assume maximum-likelihood observations, does not assume fixed estimator or control gains, takes into account obstacles in the environment, and does not require discretization of the belief space. The running time of the algorithm is polynomial in the dimension of the state space. We demonstrate the potential of our approach in several continuous partially-observable planning domains with obstacles for robots with non-linear dynamics and observation models.

关键词： Motion planning

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Decentralized Control for Optimizing Communication with Infeasible Regions 15th

Decentralized Control for Optimizing Communication with Infe...

引用

15th International Symposium of robotics Research (ISRR)

作者： Gil, Stephanie Prentice, Samuel Roy, Nicholas Rus, Daniela MIT 77 Massachusetts Ave Cambridge MA 02139 USA

ISBN: (纸本)9783319293639;9783319293622

In this paper we present a decentralized gradient-based controller that optimizes communication between mobile aerial vehicles and stationary ground sensor vehicles in an environment with infeasible regions. The formulation of our problem as a MIQP is easily implementable, and we show that the addition of a scaling matrix can improve the range of attainable converged solutions by influencing trajectories to move around infeasible regions. We demonstrate the robustness of the controller in 3D simulation with agent failure, and in 10 trials of a multi-agent hardware experiment with quadrotors and ground sensors in an indoor environment. Lastly, we provide analytical guarantees that our controller strictly minimizes a nonconvex cost along agent trajectories, a desirable property for general multi-agent coordination tasks.

关键词： Controllers

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Tactile Object Recognition and Localization Using Spatially-Varying Appearance 15th

Tactile Object Recognition and Localization Using Spatially-...

引用

15th International Symposium of robotics Research (ISRR)

作者： Pezzementi, Zachary Hager, Gregory D. Johns Hopkins Univ Baltimore MD 21218 USA

ISBN: (纸本)9783319293639;9783319293622

In this work, we present a new method for doing object recognition using tactile force sensors that makes use of recent work on "tactile appearance" to describe objects by the spatially-varying appearance characteristics of their surface texture. The method poses recognition as a localization problem with a discrete component of the state representing object identity, allowing the application of sequential state estimation techniques from the mobile robotics literature. Ideas from geometric hashing approaches are incorporated to enable efficient updating of probabilities over object identity and pose. The method's strong performance is demonstrated experimentally both in simulation and using physical sensors.

关键词： Object recognition

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Asymptotically Near-Optimal Is Good Enough for Motion Planning 15th

Asymptotically Near-Optimal Is Good Enough for Motion Planni...

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15th International Symposium of robotics Research (ISRR)

作者： Marble, James D. Bekris, Kostas E. Univ Nevada Comp Sci & Engn Dept 1664 N Virginia StMS 171 Reno NV 89557 USA

ISBN: (纸本)9783319293639;9783319293622

Asymptotically optimal motion planners guarantee that solutions approach optimal as more iterations are performed. There is a recently proposed roadmap-based method that provides this desirable property, the PRM* approach, which minimizes the computational cost of generating the roadmap. Even for this method, however, the roadmap can be slow to construct and quickly grows too large for storage or fast online query resolution. From graph theory, there are many algorithms that produce sparse subgraphs, known as spanners, which can guarantee near optimal paths. In this work, a method for interleaving an incremental graph spanner algorithm with the asymptotically optimal PRM* algorithm is described. The result is an asymptotically near-optimal motion planning solution. Theoretical analysis and experiments performed on typical, geometric motion planning instances show that large reductions in construction time, roadmap density, and online query resolution time can be achieved with a small sacrifice of path quality. If smoothing is applied, the results are even more favorable for the near-optimal solution.

关键词： Motion planning

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