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 robot...
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.
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 fro...
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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, u...
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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 oth...
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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 develo...
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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.
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 t...
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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.
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 ...
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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.
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...
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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 ...
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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 w...
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