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

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The 2005 DARPA Grand Challenge 2007

引用

丛书名： springer tracts in advanced robotics

2007年

作者： Martin Buehler Karl Iagnemma Sanjiv Singh

ISBN: (数字)9783540734291

ISBN: (纸本)9783540734284

The DARPA Grand Challenge was a landmark in the field of robotics: a race by autonomous vehicles through 132 miles of rough, cross-country Nevada terrain that showcased exciting and unprecedented capabilities in robotic perception, navigation, and control. The event took place in October 2005, and drew teams of competitors from academia and industry, and many garage hobbyists. This book presents fifteen technical papers that are written at a level that makes them easily accessible to a broad technical audience, describing the technology behind most of the robotic vehicles that participated in this famous race. The papers describe each team's driverless vehicle, race strategy, and insights. As a whole, they present the state of the art in autonomous vehicle technology, and offer a glimpse of future technology for tomorrows driverless cars. This book will serve as an authoritative, archival source for the DARPA Grand Challenge and a must have for robotics students and researchers, since it describes the state of the art in perception, planning and control.

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Sidebar - Java3D for Web-based robot control

Sidebar - Java3D for Web-based robot control

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IEEE International Conference on robotics and Automation (ICRA)

作者： Belousov, Igor Hewlett Packard Corp Moscow 115054 Russia

ISBN: (纸本)9783540689492

Robot control via Internet is a perspective direction of scientific research having important practical value. Recent period could be considered as a breakthrough moment to extend traditional use of Internet media from information exchanges to control of physical devices, including robots. © springer-Verlag Berlin Heidelberg 2007.

关键词： Robots

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A multi-robot-multi-operator collaborative virtual environment

A multi-robot-multi-operator collaborative virtual environme...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Alencastre-Miranda, Moises Munoz-Gomez, Lourdes Nieto-Granda, Carlos Rudomin, Isaac Swain-Oropeza, Ricardo Mechatron Res Ctr ITESM Mexico City DF Mexico

ISBN: (纸本)9783540689492

In this chapter, we describe the design of an object oriented and distributed architecture and the development of a modular networked system that allow us to have a multi-robot-multi-operator system. On that system, users can collaborate on different robotics applications (e.g. teleoperation, planning, off-line programming, mapping, etc) using robots of different types (e.g. manipulator arms, wheeled mobile robots, legged robots, etc). For this chapter, not only will be addressed the design details in the architecture but also implementation details in the system. Also, is presented an extensive literature and concepts about the multi-user robotics systems. © springer-Verlag Berlin Heidelberg 2007.

关键词： Mobile robots

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Using MARIE for mobile robot component development and integration

Using MARIE for mobile robot component development and integ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Cote, Carle Letourneau, Dominic Raievsky, Clement Brosseau, Yannick Michaud, Francois Univ Sherbrooke Dept Elect Engn & Comp Engn Sherbrooke PQ J1K 2R1 Canada

ISBN: (纸本)9783540689492

Many existing programming environments, such as those documented in this book, are all proposing different approaches for mobile robotics system development and integration. Most of them are incompatible with each other for different reasons [OC03], such as the use of specific communication protocols and/or mechanisms, different operating systems, robotics platforms, architectural concepts, programming languages, intended purpose, proprietary source codes, etc. This leads to code replication of common functionalities across different programming environments, and to specific functionalities being often restricted to one programming environment. © springer-Verlag Berlin Heidelberg 2007.

关键词： Robot programming

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Orca:: A component model and repository

Orca:: A component model and repository

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IEEE International Conference on robotics and Automation (ICRA)

作者： Brooks, Alex Kaupp, Tobias Makarenko, Alexei Williams, Stefan Oreback, Anders Univ Sydney ACFR Sydney NSW 2006 Australia Royal Inst Technol Stockholm Sweden

ISBN: (纸本)9783540689492

This Chapter describes Orca: an open-source project which applies Component-Based Software Engineering principles to robotics. It provides the means for defining and implementing interfaces such that components developed independently are likely to be inter-operable. In addition it provides a repository of free re-useable components. Orca attempts to be widely applicable by imposing minimal design constraints. This Chapter describes lessons learned while using Orca and steps taken to improve the framework based on those lessons. Improvements revolve around middleware issues and the problems encountered while scaling to larger distributed systems. Results are presented from systems that were implemented.

关键词： Middleware

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A vestibular interface for natural control of steering in the locomotion of robotic artifacts: Preliminary experiments

A vestibular interface for natural control of steering in th...

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12th International Symposium on robotics Research (ISRR)

作者： Laschi, Cecilia Maini, Eliseo Stefano Patane, Francesco Ascari, Luca Ciaravella, Gaetano Bertocchi, Ulisse Stefanini, Cesare Dario, Paolo Berthoz, Alain Scuola Super Sant Anna ARTS Lab Piazza Martiri Liberta 33 I-56127 Pisa Italy IMT Doctoral Sch Biorobot Sci & Engn Lucca Italy CRIM Lab Pisa Italy CNRS UMR 7152 Paris France

ISBN: (纸本)9783540481102

This work addresses the problem of developing novel interfaces for robotic systems that can allow the most natural transmission of control commands and sensory information, in the two directions. A novel approach to the development of natural interfaces is based on the detection of the human's motion intention, instead of the movement itself, as in traditional interfaces. Based on recent findings in neuroscience, the intention can be detected from anticipatory movements that naturally accompany more complex motor behaviors. This work is aimed at validating the hypothesis that head movements can be used to detect, slightly in advance, a person's intention to execute a steering during locomotion, and that a natural interface can be developed for controlling the navigation of a robotic artifact, based on this principle. A prototype 'vestibular' interface has been developed to this purpose, based on a 3-axial artificial vestibular system, developed by part of the authors for humanoid robotics applications. Three different experimental sessions have been carried out by using: (1) a driving video-game;(2) a robotic endoscope, with a 2-DOF steering tip;and (3) a mobile robot with a camera on-board. The experiments showed that anticipatory head movements occur even when the person is driving a device, like those used in the experiments, and that such head movements always anticipate commands to the input device. The results indicate that the proposed hypothesis is valid and that a further research effort is worthwhile in the direction of using this novel principle to develop natural interfaces, which in fact can be very useful in many tasks, with different devices.

关键词： robotics

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Improved estimation of target velocity using multiple model estimation and a dynamic Bayesian network for a robotic tracker of ocean animals

Improved estimation of target velocity using multiple model ...

引用

12th International Symposium on robotics Research (ISRR)

作者： Plotnik, Aaron Rock, Stephen Stanford Univ Dept Aeronaut & Astronaut Stanford CA 94305 USA

ISBN: (纸本)9783540481102

A vision-based automatic tracking system for ocean animals in the midwater has been demonstrated in Monterey Bay, CA. Currently, the input to this system is a measurement of relative position of a target with respect to the tracking vehicle, from which relative velocities are estimated by differentiation. In this paper, the estimation of target velocities is extended to use knowledge of the modal nature of the motions of the tracked target and to incorporate the discrete output of an online classifier that categorizes the visually observable body motions of the animal. First, by using a multiple model estimator, a more expressive hybrid dynamical model is imposed on the target. Then, the estimator is augmented to input the discrete classification from the secondary vision algorithm by recasting the process and sensor models as a dynamic Bayesian network (DBN). By leveraging the information in the body motion classifications, the estimator is able to detect mode changes before the resulting changes in velocity are apparent and a significant improvement in velocity estimation is realized. This, in turn, generates the potential for improved closed-loop tracking performance.

关键词： Animals

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Android science - Toward a new cross-interdisciplinary framework

Android science - Toward a new cross-interdisciplinary frame...

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12th International Symposium on robotics Research (ISRR)

作者： Ishiguro, Hiroshi Osaka Univ Dept Adapt Machine Syst Osaka Japan

In the evaluation of interactive robots, the performance measures are subjective impression of human subjects who interact with the robot and their unconscious reactions, such as synchronized human behaviors in the in... 详细信息

ISBN: (纸本)9783540481102

关键词： Eye movements

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Software environments for robot programming

Software environments for robot programming

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IEEE International Conference on robotics and Automation (ICRA)

作者： MacDonald, Bruce Biggs, Geoffrey Collett, Toby Univ Auckland Dept Elect & Comp Engn Robot Grp Auckland 1 New Zealand

ISBN: (纸本)9783540689492

Many challenges must be met if the robot programming process is to be improved for human programmers;challenges involving the environment, robots and tasks. These challenges, listed in Fig. 1, result from the complex interactions robots have in real environments and the complex sensors and actuators that robots use. They are present in most robotic systems, however the emphasis on interaction with human users in a human environment amplifies the difficulties for programmers of robotic assistants. Some of the challenges are also exhibited by some traditional, nonrobotic applications, but have generally not been addressed by mainstream development tools. © springer-Verlag Berlin Heidelberg 2007.

关键词： Robot programming

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Towards framework-based UxV software systems: An applied research perspective

Towards framework-based UxV software systems: An applied res...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Broten, Gregory S. Monckton, Simon P. Giesbrecht, Jared L. Collier, Jack A. Def R&D Canada Suffield AB Canada

ISBN: (纸本)9783540689492

Defence R&D Canada changed research direction in 2002 from pure tele-operated land vehicles to general autonomy for land, air, and sea craft (U×V). The unique constraints of the military environment coupled with the complexity of autonomous systems drove DRDC to carefully plan a research and development infrastructure that would provide state of the art tools without restricting research scope. © springer-Verlag Berlin Heidelberg 2007.

关键词： Computers

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