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

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3D-Position Tracking and Control for All-Terrain Robots 2008

引用

丛书名： springer tracts in advanced robotics

2008年

作者： Pierre Lamon

ISBN: (数字)9783540782872

ISBN: (纸本)9783540782865

Rough terrain robotics is a fast evolving field of research and a lot of effort is deployed towards enabling a greater level of autonomy for outdoor vehicles. This book demonstrates how the accuracy of 3D position tracking can be improved by considering rover locomotion in rough terrain as a holistic problem. Although the selection of appropriate sensors is crucial to accurately track the rovers position, it is not the only aspect to consider. Indeed, the use of an unadapted locomotion concept severely affects the signal to noise ratio of the sensors, which leads to poor motion estimates. In this work, a mechanical structure allowing smooth motion across obstacles with limited wheel slip is used. In particular, it enables the use of odometry and inertial sensors to improve the position estimation in rough terrain. A method for computing 3D motion increments based on the wheel encoders and chassis state sensors is developed. Because it accounts for the kinematics of the rover, this method provides better results than the standard approach. To further improve the accuracy of the position tracking and the rovers climbing performance, a controller minimizing wheel slip is developed. The algorithm runs online and can be adapted to any kind of passive wheeled rover. Finally, sensor fusion using 3D-Odometry, inertial sensors and visual motion estimation based on stereovision is presented. The experimental results demonstrate how each sensor contributes to increase the accuracy and robustness of the 3D position estimation.

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Visibility-based Pursuit-Evasion with Bounded Speed

引用

7th International Workshop on Algorithmic Foundations of robotics

作者： Tovar, Benjamin LaValle, Steven M. Univ Illinois Dept Comp Sci Urbana IL 61801 USA

ISBN: (纸本)9783540684046

In this paper we present a study on the visibility-based pursuit evasion problem in which bounds on the speeds of the pursuer and evader are given. In this setting, the pursuer tries to find the evader inside a simply connected polygonal environment, and the evader in turn tries to avoid detection. The focus of the paper is to develop a characterization of the set of possible evader positions as a function of time (the reachable sets). This characterization is more complex than the unbounded-speed case, because it no longer depends only on the combinatorial changes in the visibility region of the pursuer. The characterization presented can be used as a filter to keep track of the possible evader's position as a pursuer moves in the environment, or it can be used to guide the construction of the pursuer search strategy. This search algorithm is at least as powerful as a complete algorithm for the unbounded-speed case, and with the knowledge of speed bounds, generates solutions for environments that were unsolvable previously. Given that numerical methods are needed to compute the reachable sets, we also present a conservative approximation which can be computed with a closed formula.

关键词： Pursuit-evasion visibility bounded-speed mobile robots

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State space sampling of feasible motions for high-performance mobile robot navigation in complex environments

State space sampling of feasible motions for high-performanc...

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6th International Conference on Field and Service robotics

作者： Howard, Thomas M. Green, Colin J. Kelly, Alonzo Ferguson, Dave Carnegie Mellon Univ Inst Robot Pittsburgh PA 15213 USA Intel Res Pittsburgh Pittsburgh PA 15213 USA

ISBN: (纸本)9783540754039

Sampling in the space of controls or actions is a well-established method for ensuring feasible local motion plans. However, as mobile robots advance in performance and competence in complex environments, this classical motion-planning technique ceases to be effective. When environmental constraints severely limit the space of acceptable motions or when global motion planning expresses strong preferences, a state space sampling strategy is more effective. Although this has been evident for some time, the practical question is how to achieve it while also satisfying the severe constraints of vehicle dynamic feasibility. The paper presents an effective algorithm for state space sampling utilizing a model-based trajectory generation approach. This method enables high-speed navigation in highly constrained and/or partially known environments such as trails, roadways, and dense off-road obstacle fields. (C) 2008 Wiley Periodicals, Inc.

关键词： Motion planning

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Planning Near-Optimal Corridors Amidst Obstacles

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7th International Workshop on Algorithmic Foundations of robotics

作者： Wein, Ron van den Berg, Jur Halperin, Dan Tel Aviv Univ Sch Comp Sci IL-69978 Tel Aviv Israel Univ Utrecht Inst Comp & Informat Sci NL-3508 TC Utrecht Netherlands

ISBN: (纸本)9783540684046

Planning corridors among obstacles has arisen as a central problem in game design. Instead of devising a one-dimensional motion path for a moving entity, it is possible to let it move in a corridor, where the exact motion path is determined by a local planner. In this paper we introduce a quantitative measure for the quality of such corridors. We analyze the structure of optimal corridors amidst point obstacles and polygonal obstacles in the plane, and propose an algorithm to compute approximations for optimal corridors according to our measure.

关键词： Structural optimization

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Competitive Disconnection Detection in On-Line Mobile Robot Navigation

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7th International Workshop on Algorithmic Foundations of robotics

作者： Gabriely, Yoav Rimon, Elon Technion Israel Inst Technol IL-32000 Haifa Israel

ISBN: (纸本)9783540684046

This paper concerns target unreachability detection during on-line mobile robot navigation in an unknown planar environment. Traditionally, competitiveness characterizes an on-line navigation algorithm in cases where the target is reachable from the robot's start position. This paper introduces a complementary notion of competitiveness which characterizes an on-line navigation algorithm in cases where the target is unreachable. The disconnection competitiveness of an on-line navigation algorithm measures the path length it generates in order to conclude target unreachability relative to the shortest off-line path that proves target unreachability from the same start position. It is shown that only competitive navigation algorithms can possess disconnection competitiveness. A competitive on-line navigation algorithm for a disc-shaped mobile robot, called CBUG, is described. This algorithm has a quadratic competitive performance, which is also the best achievable performance over all on-line navigation algorithms. The disconnection competitiveness of CBUG is analyzed and shown to be quadratic in the length of the shortest off-line disconnection path. Moreover, it is shown that quadratic disconnection competitiveness is the best achievable performance over all on-line navigation algorithms. Thus CBUG achieves optimal competitiveness both in terms of connection and disconnection paths. Examples illustrate the usefulness of connection-and-disconnection competitiveness in terms of path stability.

关键词： Mobile robots

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Extended Abstract: Structure Determination of Symmetric Protein Complexes by a Complete Search of Symmetry Configuration Space Using NMR Distance Restraints

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7th International Workshop on Algorithmic Foundations of robotics

作者： Potluri, Shobha Yan, Anthony K. Chou, James J. Donald, Bruce R. Bailey-Kellogg, Chris Dartmouth Coll Dept Comp Sci Hanover NH 03755 USA Harvard Med Sch Dept Biol Chem & Mol Pharmacol Boston MA 02115 USA Dartmouth Coll Dept Chem Hanover NH USA Dartmouth Coll Dept Biol Sci Hanover NH USA Sudikoff Lab Hanover NH 03755 USA

ISBN: (纸本)9783540684046

Symmetric homo-oligomers are protein complexes with similar subunits arranged symmetrically [10]. Figure 1 illustrates the structure of a symmetric homo-oligomer called phospholamban. Phospholamban is a membrane protein that helps regulate the calcium level inside the cell and hence aids in muscle contraction and relaxation [7];ion conductance studies [5] also suggest that phospholamban might have a separate role as an ion channel. A detailed molecular-level understanding of homo-oligomeric structures provides insights into their functions and, in some cases, how to design appropriate drugs. Nuclear Magnetic Resonance (NMR) spectroscopy underlies many structural studies of homo-oligomers, but poses significant computational challenges in inferring threedimensional structures from indirect (and often sparse) measurements of geometry. © 2008 springer-Verlag Berlin Heidelberg.

关键词： Nuclear magnetic resonance spectroscopy

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Vision-based handling tasks for an autonomous outdoor forklift

Vision-based handling tasks for an autonomous outdoor forkli...

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6th International Conference on Field and Service robotics

作者： Pradalier, Cedric CSIRO ICT Ctr Autonomous Syst Lab Brisbane Qld Australia

ISBN: (纸本)9783540754039

In the aluminium industry, Hot Metal Carriers (HMCs) perform the task of transporting molten aluminium from the smelter (where the aluminium is made) to the casting shed where it is turned into block products. The vehicles weigh approximately 20 tonnes unloaded and resemble forklifts except they have a dedicated hook for manipulating the load, called the crucible. In the perspective of a full automation of this kind of vehicle, this paper main contribution is the implementation of robust outdoor crucible handling capacities, relying on the autonomous tracking of especially designed fiducials attached to the crucible handle.

关键词： Crucibles

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Mechanical Manipulation Using Reduced Models of Uncertainty

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7th International Workshop on Algorithmic Foundations of robotics

作者： Murphey, Todd D. Univ Colorado Dept Elect & Comp Engn Boulder CO 80309 USA

ISBN: (纸本)9783540684046

In this paper we describe methods applicable to the modeling and control of mechanical manipulation problems, including those that experience uncertain stick/slip phenomena. Manipulation in unstructured environments often includes uncertainty arising from various environmental factors and intrinsic modeling uncertainty. This reality leads to the need for algorithms that axe not sensitive to uncertainty, or at least not sensitive to the uncertainty we can neither model nor estimate. The particular contribution of this work is to point our that the use of an abstraction, in this case a kinematic reduction, not only reduces the computational complexity but additionally simplifies the representation of uncertainty in a system. Moreover, this simplified representation may be directly used in a stabilizing control law. The end result of this is two-fold. First, modeling for purposes of control is made more straight-forward by getting rid of some dependencies on low-level mechanics (in particular, the details of friction modeling). Second, the online estimation of the relevant uncertain variables is much more elegant and easily implementable, than the online estimation of the full model and its associated uncertainties.

关键词： Uncertainty analysis

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Incremental Map Generation (IMG)

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7th International Workshop on Algorithmic Foundations of robotics

作者： Xie, Dawen Morales, Marco Pearce, Roger Thomas, Shawna Lien, Jyh-Ming Amato, Nancy M. Texas A&M Univ Dept Comp Sci Parasol Lab College Stn TX 77843 USA

ISBN: (纸本)9783540684046

Probabilistic roadmap methods (PRMs) have been highly successful in solving many high degree of freedom motion planning problems arising in diverse application domains such as traditional robotics, computer-aided design, and computational biology and chemistry. One important practical issue with PRMs is that they (to not provide an automated mechanism to determine how large a roadmap is needed for a given problem. Instead, users typically determine this by trial and error and as a consequence often construct larger roadmaps than are needed. In this paper, we propose a new PRM-based framework called Incremental Map Generation (IMG) to address this problem. Our strategy is to break the map generation into several processes, each of which generates samples and connections, and to continue adding the next increment of samples and connections to the evolving roadmap until it stops improving. In particular, the process continues until a set of evaluation criteria determine that the planning strategy is no longer effective at improving the roadmap. We propose some general evaluation criteria and show how to apply them to construct different types of roadmaps, e.g., roadmaps that coarsely or more finely map the space. In addition, we show how IMG can be integrated with previously proposed adaptive strategies for selecting sampling methods. We provide results illustrating the power of mic.

关键词： Motion planning

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Motion Planning in Medicine: Optimization and Simulation Algorithms for Image-Guided Procedures 2008

引用

丛书名： springer tracts in advanced robotics

2008年

作者： Ron Alterovitz Ken Goldberg

ISBN: (数字)9783540692591

ISBN: (纸本)9783540692577

The monograph written by Ron Alterovitz and Ken Goldberg combines ideas from robotics, physically-based modeling, and operations research to develop new motion planning and optimization algorithms for image-guided medical procedures. A challenge clinicians commonly face is compensating for errors caused by soft tissue deformations that occur when imaging devices or surgical tools physically contact soft tissue. A number of methods are presented which can be applied to a variety of medical procedures, from biopsies to anaesthesia injections to radiation cancer treatment. They can also be extended to address problems outside the context of medical robotics, includingnonholonomic motion planning for mobile robots in field or manufacturing environments.

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