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

共 918 条记录，以下是391-400 订阅

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Randomized Belief-Space Replanning in Partially-Observable Continuous Spaces

引用

9th International Workshop on Algorithmic Foundations of robotics (WAFR)

作者： Hauser, Kris Indiana Univ Sch Informat & Comp Bloomington IN 47405 USA

ISBN: (纸本)9783642174513

We present a sample-based replanning strategy for driving partially-observable, high-dimensional robotic systems to a desired goal. At each time step, it uses forward simulation of randomly-sampled open-loop controls to construct a belief-space search tree rooted at its current belief state. Then, it executes the action at the root that leads to the best node in the tree. As a node quality metric we use Monte Carlo simulation to estimate the likelihood of success under the QMDP belief-space feedback policy, which encourages the robot to take information-gathering actions as needed to reach the goal. The technique is demonstrated on target-finding and localization examples in up to 5D state spacess.

关键词： Monte Carlo methods

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Programming Matter with Modular Robots: Two Directions

引用

13th International Symposium on robotics Research (ISSR)

作者： Rus, Daniela MIT Cambridge MA 02139 USA

ISBN: (纸本)9783642147432

In this paper we examine some of the current trends in building robots capable of self-assembly, self-reconfiguration, and self-organization, and we describe two new approaches to creating programmable matter. We explain the notion of building robot shapes by self-dissasembly, the process of "sculpting" a desired shape from a connected block of robotic modules by removing units, and discuss lessons learned with a robot system capable of self-disassembly. We also describe the notion of incorporating passive components such as rigid bars in the body of a modular robot and lessons learned from the development;of a first system prototype.

关键词： Modular robots

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Realistic Reconfiguration of Crystalline (and Telecube) Robots

引用

8th International Workshop on the Algorithmic Foundations of robotics

作者： Aloupis, Greg Collette, Sebastien Damian, Mirela Demaine, Erik D. El-Khechen, Dania Flatland, Robin Langerman, Stefan O'Rourke, Joseph Pinciu, Val Ramaswami, Suneeta Sacristan, Vera Wuhrer, Stefanie Univ Libre Bruxelles Brussels Belgium Villanova Univ Villanova PA 19085 USA MIT Cambridge MA 02139 USA Concordia Univ Montreal PQ Canada Siena coll Albany NY USA Smith Coll Northampton MA 01063 USA Southern Connecticut State Univ New Haven CT 06515 USA Rutgers State Univ Camden NJ 08901 USA Univ Politecn Cataluna Barcelona Spain Carleton Univ Ottawa ON Canada

ISBN: (纸本)9783642003110

In this paper we propose novel algorithms for reconfiguring modular robots that are composed of n atoms. Each atom has the shape of a unit cube and can expand/contract each face by half a unit, as well as attach to or detach from faces of neighboring atoms. For universal reconfiguration, atoms must be arranged in 2 x 2 x 2 modules. We respect certain physical constraints: each atom reaches at most unit velocity and (via expansion) can displace at most one other atom. We require that one of the atoms can store a map of the target configuration. Our algorithms involve a total of O(n(2)) such atom operations, which are performed in O(n) parallel steps. This improves on previous reconfiguration algorithms, which either use O(n(2)) parallel steps [8, 10, 4] or do not respect the constraints mentioned above [1]. In fact, in the setting considered, our algorithms are optimal, in the sense that certain reconfigurations require Omega(n) parallel steps. A further advantage of our algorithms is that reconfiguration can take place within the union of the source and target configurations.

关键词： Atoms

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A Simple Method for Computing Minkowski Sum Boundary in 3D Using Collision Detection

引用

8th International Workshop on the Algorithmic Foundations of robotics

作者： Lien, Jyh-Ming George Mason Univ Fairfax VA 22030 USA

ISBN: (纸本)9783642003110

Computing the Minkowski sum of two polyhedra exactly has been shown difficult. Despite its fundamental role in many geometric problems in robotics, to the best of our knowledge, no 3-d Minkowski sum software for general polyhedra is available to the public. One of the main reasons is the difficulty of implementing the existing methods. There are two main approaches for computing Minkowski sums: divide-and-conquer and convolution. The first approach decomposes the input polyhedra into convex pieces, computes the Minkowski sums between a pair of convex pieces, and unites all the pairwise Minkowski sums. Although conceptually simple, the major problems of this approach include: (1) The size of the decomposition and the pairwise Minkowski sums can be extremely large and (2) robustly computing the union of a large number of components can be very tricky. On the other hand, convolving two polyhedra can be done more efficiently. The resulting convolution is a superset of the Minkowski sum boundary. For non-convex inputs, filtering or trimming is needed. This usually involves computing (1) the arrangement of the convolution and its substructures and (2) the winding numbers for the arrangement subdivisions. Both computations are difficult to implement robustly in 3-d. In this paper we present a new approach that is simple to implement and can efficiently generate accurate Minkowski sum boundary. Our method is convolution based but it avoids computing the 3-d arrangement and the winding numbers. The premise of our method is to reduce the trimming problem to the problems of computing 2-d arrangements and collision detection, which are much better understood in the literature. To maintain the simplicity, we intentionally sacrifice the exactness. While our Method generates exact solutions in most cases, it does not produce low dimensional boundaries, e.g., boundaries enclosing zero volume. We classify our method as 'nearly exact' to distinguish it from the exact and approximate

关键词： Trimming

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Generating Uniform Incremental Grids on SO(3) Using the Hopf Fibration

引用

8th International Workshop on the Algorithmic Foundations of robotics

作者： Yershova, Anna Jain, Swati LaValle, Steven M. Mitchell, Julie C. Duke Univ Durham NC 27707 USA Univ Illinois Urbana IL 61801 USA Univ Wisconsin Madison WI 53706 USA

ISBN: (纸本)9783642003110

The problem of generating uniform deterministic samples over the rotation group, SO(3), is fundamental to computational biology, chemistry, physics, and numerous branches of computer science. We present the best-known method to date for constructing incremental, deterministic grids on SO(3);it provides: (1) the lowest metric distortion for grid neighbor edges, (2) optimal dispersion-reduction with each additional sample, (3) explicit neighborhood structure, and (4) equivolumetric partition of SO(3) by the grid cells. We also demonstrate the use of the sequence on motion planning problems.

关键词： orthogonal group uniform sampling Haar measure grids motion planning

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Toward Optimal Sampling in the Space of Paths

引用

13th International Symposium on robotics Research (ISSR)

作者： Green, Colin J. Kelly, Alonzo Carnegie Mellon Univ Inst Robot Pittsburgh PA 15213 USA

ISBN: (纸本)9783642147432

While spatial sampling of points has already received much attention, the motion planning problem can also be viewed as a process which samples the function space of paths. We define a search space to be a set of candidate paths and consider the problem of designing a search space which is most likely to produce a solution given a probabilistic representation of all possible environments. We introduce the concept of relative completeness which is the prior probability, before the environment, is specified, of producing a solution path in a bounded amount of computation. We show how this probability is related to the mutual separation of the set of paths searched. The problem of producing an optimal set can be related to the maximum k-facility dispersion problem which is known to be NP-hard. We propose a greedy algorithm for producing a good set of paths and demonstrate that it produces results with both low dispersion and high prior probability of success.

关键词： Optimization

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Discovering a Point Source in Unknown Environments

引用

8th International Workshop on the Algorithmic Foundations of robotics

作者： Burger, Martin Landa, Yanina Tanushev, Nicolay M. Tsai, Richard Univ Munster Inst Computat & Appl Math D-4400 Munster Germany Univ Calif Los Angeles Los Angeles CA 90095 USA Univ Texas Austin Austin TX 78712 USA

ISBN: (纸本)9783642003110

We consider the inverse problem of discovering the location of a source from very sparse point measurements in a bounded domain that contains impenetrable (and possibly unknown) obstacles. We present an adaptive algorithm for determining the measurement locations, and ultimately, the source locations. Specifically, we investigate source discovery for the Laplace operator, though the approach can be applied to more general linear partial differential operators. We propose a strategy for the case when the obstacles are unknown and the environment has to be mapped out using a range sensor concurrently with source discovery.

关键词： Location

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Energy-Based Modeling of Tangential Compliance in 3-Dimensional Impact

引用

9th International Workshop on Algorithmic Foundations of robotics (WAFR)

作者： Jia, Yan-Bin Iowa State Univ Dept Comp Sci Ames IA 50011 USA

ISBN: (纸本)9783642174513

This paper studies modeling of tangential compliance as two rigid bodies collide in the space. Stronge's spring-based contact structure [13, pp. 95-96] is extended to three dimensions. Slip or stick is indicated by the tangential motion of a massless particle connected to the contact point (viewed as an infinitesimal region) on one body via three orthogonal springs. We show that the effect of tangential compliance can be analyzed using normal impulse rather than time, contrary to a previous claim by Stronge. This is primarily due to the ability of updating the elastic energies of the three springs without knowledge of their stiffnesses or length changes. The change rates, nevertheless, are computable. So are sliding velocity and tangential impulse. The latter is then integrated into impact equations and contact kinematics, making the whole system driven by normal impulse alone. Examples include a ball and a pencil bouncing on a table, and a masse billiard shot. The theory has potential impact on impulsive robotic manipulation in which the ability to deal with friction and compliance is vital for skillful maneuvers.

关键词： robotics

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On Approximate Geodesic-Distance Queries amid Deforming Point Clouds

引用

8th International Workshop on the Algorithmic Foundations of robotics

作者： Agarwal, Pankaj K. Efrat, Alon Sharathkumar, R. Yu, Hai Duke Univ Dept Comp Sci Durham NC 27706 USA Univ Arizona Dept Comp Sci Tucson AZ USA Google Inc New York NY USA

ISBN: (纸本)9783642003110

We propose data structures for answering a geodesic-distance query between two query points in a two-dimensional or three-dimensional dynamic environment, in which obstacles are deforming continuously. Each obstacle in the environment is modeled as the convex hull of a continuously deforming point cloud. The key to our approach is to avoid maintaining the convex hull of each point cloud explicitly but still able to retain sufficient geometric information to estimate geodesic distances in the free space.

关键词： Deformation

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Architecture, Abstractions, and Algorithms for Controlling Large Teams of Robots: Experimental Testbed and Results

引用

13th International Symposium on robotics Research (ISSR)

作者： Michael, Nathan Fink, Jonathan Loizou, Savvas Kumar, Vijay Univ Penn Philadelphia PA 19104 USA

ISBN: (纸本)9783642147432

We describe the architecture, algorithms, and experimental testbed for the deployment of large numbers of cooperating robots, and applications to tasks like manipulation and transportation. The coordination between robots is completely decentralized to enable scaling up to large numbers of robots. There is no labeling or identification of robots and all robots (and their software) are identical allowing robustness to failures, ease of programming, and modularity enabling the addition or deletion of robots from the team. Our approach requires minimal communication and sensing and the proposed controllers are based only on local information. Moreover, our architecture facilitates asymmetric communication from one or more supervisory agents that can broadcast information to all robots and close the loop by acquiring abstract, high level information related to the supervised robots. We discuss the hardware and software implementation, the architecture, and present recent experimental results.

关键词： Testbeds

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