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

共 918 条记录，以下是561-570 订阅

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Probabilistic Reasoning and Decision Making in Sensory-Motor Systems 2008

引用

丛书名： springer tracts in advanced robotics

2008年

作者： Pierre Bessière Christian Laugier Roland Siegwart

ISBN: (数字)9783540790075

ISBN: (纸本)9783540790068

Probabilistic Reasoning and Decision Making in Sensory-Motor Systems by Pierre Bessiere, Christian Laugier and Roland Siegwart provides a unique collection of a sizable segment of the cognitive systems research community in Europe. It reports on contributions from leading academic institutions brought together within the European projects Bayesian Inspired Brain and Artifact (BIBA) and Bayesian Approach to Cognitive Systems (BACS). This fourteen-chapter volume covers important research along two main lines: new probabilistic models and algorithms for perception and action, new probabilistic methodology and techniques for artefact conception and development. The work addresses key issues concerned with Bayesian programming, navigation, filtering, modelling and mapping, with applications in a number of different contexts.

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Spatial Representation and Reasoning for Robot Mapping 2008

引用

丛书名： springer tracts in advanced robotics

2008年

作者： Diedrich Wolter

ISBN: (数字)9783540690122

ISBN: (纸本)9783540690115

This book addresses spatial representations and reasoning techniques for mobile robot mapping, providing an analysis of fundamental representations and processes involved. A spatial representation based on shape information is proposed and shape analysis techniques are developed to tackle the correspondence problem in robot mapping. A general mathematical formulation is presented to provide the formal ground for an efficient matching of configurations of objects.

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Asymptotically Optimal Kinodynamic Motion Planning for Self-reconfigurable Robots

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7th International Workshop on Algorithmic Foundations of robotics

作者： Reif, John H. Slee, Sam Duke Univ Dept Comp Sci Durham NC 27706 USA

ISBN: (纸本)9783540684046

Self-reconfigurable robots are composed of many individual modules that can autonomously move to transform the shape and structure of the robot. In this paper we present a kinodynamically optimal algorithm for the following "x-axis to y-axis" reconfiguration problem: given a horizontal row of n modules, reconfigure that collection into a vertical column of n modules. The goal is to determine the sequence of movements of the modules that minimizes the movement time needed to achieve the desired reconfiguration of the modules. Prior work on self-reconfigurable (SR) robots assumed a constant velocity bound on module movement and so required time linear in n to solve this problem. In this paper we define an abstract model that assumes unit bounds on various physical properties of modules such as shape, aspect ratio, mass, and the maximum magnitude of force that an individual module can exert. We also define concrete instances of our abstract model similar to those found in the prior literature on reconfigurable robots, including various examples where the modules are cubes that are attached and can apply forces to neighboring cubes. In one of these concrete models, the cube's sides can contract and expand with controllable force, and in another the cubes can apply rotational torque to their neighbors. Our main result is a proof of tight Theta(root n) upper and lower bounds on the movement time for the above reconguration problem for concrete instances of our abstract model. This paper's analysis characterizes optimal reconfiguration movements in terms of basic laws of physics relating force, mass, acceleration, distance traveled, and movement time. A key property resulting from this is that through the simultaneous application of constant-bounded forces by a system of modules, certain modules in the system can achieve velocities exceeding any constant bounds. This delays modules with the least distance to travel when reconfiguring in order to accelerate modules that hav

关键词： Aspect ratio

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Sampling-based Falsification and Verification of Controllers for Continuous Dynamic Systems

引用

7th International Workshop on Algorithmic Foundations of robotics

作者： Cheng, Peng Kumar, Vijay Univ Penn Grasp Lab Philadelphia PA 19104 USA

ISBN: (纸本)9783540684046

In this paper, we present a sampling-based verification algorithm for embedded robotic systems with continuous dynamics and uncertainty due to adversaries, unmodeled disturbance inputs, unknown parameters, or initial conditions. The algorithm attempts to find inputs (and resulting trajectories) that falsify the specifications of the system thus providing examples of bad inputs to the system. The system is said to be verified if the algorithm cannot find falsifying inputs. The main contribution of the paper is the analysis of the effects of discretization of the state and input spaces that are inherent to sampling-based techniques. We derive conditions that guarantee resolution completeness. These provide sufficient, although conservative, conditions for verifying Lipschitz continuous (but possibly non-smooth) dynamic systems without known analytical solutions. We analyze the effects of transformations of the input and state space on these conditions. The main results of this paper are illustrated with several simple examples.

关键词： Falsification verification sampling-based algorithms embedded robotic systems

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Extensive Representations and Algorithms for Nonlinear Filtering and Estimation

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7th International Workshop on Algorithmic Foundations of robotics

作者： Stump, Ethan Grocholsky, Ben Kumar, Vijay Univ Penn GRASP Lab Philadelphia PA 19104 USA Carnegie Mellon Univ Inst Robot Pittsburgh PA 15213 USA

ISBN: (纸本)9783540684046

Most estimation problems in robotics are difficult because of (a) the nonlinearity in observation models;and (b) the lack of suitable probabilistic models for the process and observation noise. In this paper we develop a set-valued approach to estimation that overcomes both these limitations and illustrates the application to localization of multiple, mobile sensor platforms with range sensors.

关键词： Nonlinear filtering

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Caging Polygons with Two and Three Fingers

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7th International Workshop on Algorithmic Foundations of robotics

作者： Vahedi, Mostafa van der Stappen, A. Frank Univ Utrecht Dept Informat & Comp Sci NL-3508 TB Utrecht Netherlands

ISBN: (纸本)9783540684046

We study two- and three-finger caging grasps of a given polygonal object with n edges. A grasp is said to cage an object when it is impossible to take the object to a distant location without penetrating a finger. Using a classification into squeezing and stretching cagings, we provide an algorithm that reports all caging grasps of two disk fingers in O(n(2) log n) time. Our result extends and improves a recent solution for point fingers (Pipattanasomporn and Sudsang 2006). In addition, we construct a data structure in O(n(2) log n) time requiring O(n(2)) space that can be queried in O(log n) time whether a given two- finger grasp cages the polygon. We also establish a relation between two- finger caging grasps and two- finger immobilizing grasps of polygons without parallel edges. We also study caging grasps with three point fingers. Given the placements of two so-called base fingers, the caging region is the set of all placements of the third finger that jointly with the base fingers forms a caging grasp of a polygonal object. Using the relation between equilibrium grasps and the boundary of the caging region, we present an algorithm that reports the entire caging region in O(n(6) log(2)n) time. Our result extends a previous solution that only applies to convex polygons (Erickson et al. 2007).

关键词： Robotic manipulation caging grasps planer parts geometric data structures

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Constant-Curvature Motion Planning Under Uncertainty with Applications in Image-Guided Medical Needle Steering

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7th International Workshop on Algorithmic Foundations of robotics

作者： Alterovitz, Ron Branicky, Michael Goldberg, Ken Univ Calif Berkeley Dept IEOR Berkeley CA 94720 USA Case Western Reserve Univ Dept EECS Cleveland OH 44106 USA Univ Calif Berkeley IEOR & EECS Dept Berkeley CA 94720 USA

ISBN: (纸本)9783540684046

We consider a variant of nonholonomic motion planning for a Dubins car with no reversals, binary left/right steering, and uncertainty in motion direction. We develop a new motion planner and apply it to steerable needles, a new class of flexible bevel-tip medical needles that clinicians can steer through soft tissue to reach targets inaccessible to traditional stiff needles. Our method explicitly considers uncertainty in needle motion due to patient differences and the difficulty in predicting needle/tissue interaction: the planner Computes optimal turning points to maximize the probability that the needle will reach the desired target. Given a medical image with segmented obstacles and target, our method formulates the planning problem as a Markov Decision Process (MDP) based on an efficient discretization of the state space, models motion uncertainty using probability distributions, and computes turning points to maximize the probability of successfully reaching the target using infinite horizon Dynamic Programming (DP). This approach has three features particularly beneficial for medical planning problems. First, the planning formulation only requires parameters that can be directly extracted from images. Second, we can compute the optimal needle insertion point by examining the DP look-up table of optimal controls for every needle state. Third, intra-operative medical imaging can be combined with the pre-computed DP look-up table to permit optimal control of the needle in the operating room without requiring time-consuming intra-operative re-planning. We apply the method to generate motion plans for steerable needles to reach targets inaccessible to stiff needles and illustrate the importance of considering uncertainty during motion plan optimization.

关键词： Needles

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Monte Carlo localization in outdoor terrains using multilevel surface maps

Monte Carlo localization in outdoor terrains using multileve...

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6th International Conference on Field and Service robotics

作者： Kuemmerle, Rainer Triebel, Rudolph Pfaff, Patrick Burgard, Wolfram Univ Freiburg Dept Comp Sci D-79110 Freiburg Germany Swiss Fed Inst Technol Autonomous Syst Lab CH-8092 Zurich Switzerland

ISBN: (纸本)9783540754039

We propose a novel combination of techniques for robustly estimating the position of a mobile robot in outdoor environments using range data. Our approach applies a particle filter to estimate the full six-dimensional state of the robot and utilizes multilevel surface maps, which, in contrast to standard elevation maps, allow the robot to represent vertical structures and multiple levels in the environment. We describe probabilistic motion and sensor models to calculate the proposal distribution and to evaluate the likelihood of observations. We furthermore describe an active localization approach that actively selects the sensor orientation of the two-dimensional laser range scanner to improve the localization results. To efficiently calculate the appropriate orientation, we apply a clustering operation on the particles and evaluate potential orientations on the basis of these clusters. Experimental results obtained with a mobile robot in large-scale outdoor environments indicate that our approach yields robust and accurate position estimates. The experiments also demonstrate that multilevel surface maps lead to a significantly better localization performance than standard elevation maps. They additionally show that further accuracy is obtained from the active sensing approach. (C) 2008 Wiley Periodicals, Inc.

关键词： Mobile robots

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Stratified Deformation Space and Path Planning for a Planar Closed Chain with Revolute Joints

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7th International Workshop on Algorithmic Foundations of robotics

作者： Han, L. Rudolph, L. Blumenthal, J. Valodzin, I. Clark Univ Dept Math & Comp Sci Worcester MA 01610 USA

ISBN: (纸本)9783540684046

Given a linkage belonging to any of several broad classes (both planar and spatial), we have defined parameters adapted to a stratification of its deformation space (the quotient space of its configuration space by the group of rigid motions) making that space "practically piecewise convex". This leads to great simplifications in motion planning for the linkage, because in our new parameters the loop closure constraints are exactly, not approximately, a set of linear inequalities. We illustrate the general construction in the case of planar nR loops (closed chains with revolute joints), where the deformation space (link collisions allowed) has one connected component or two, stratified by copies of a single convex polyhedron via proper boundary identification. In essence, our approach makes path planning for a planar nR loop essentially no more difficult than for an open chain.

关键词： Motion planning

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Motion Planning for a Six-Legged Lunar Robot

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7th International Workshop on Algorithmic Foundations of robotics

作者： Hauser, Kris Bretl, Timothy Latombe, Jean-Claude Wilcox, Brian Stanford Univ Dept Comp Sci Stanford CA 94305 USA CALTECH Jet Prop Lab Pasadena CA 91125 USA

ISBN: (纸本)9783540684046

This paper studies the motion of a large and highly mobile six-legged lunar vehicle called ATHLETE, developed by the Jet Propulsion Laboratory. This vehicle rolls on wheels when possible, but can use the wheels as feet to walk when necessary. While gaited walking may suffice for most situations, rough and steep terrain requires novel sequences of footsteps and postural adjustments that are specifically adapted to local geometric and physical properties. This paper presents a planner to compute these motions that combines graph searching techniques to generate a sequence of candidate footfalls with probabilistic sample-based planning to generate continuous motions to reach them. The viability of this approach is demonstrated in simulation on several example terrains, even one that requires rappelling.

关键词： Wheels

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