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

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A provably consistent method for imposing sparsity in feature-based SLAM information filters

A provably consistent method for imposing sparsity in featur...

引用

12th International Symposium on robotics Research (ISRR)

作者： Walter, Matthew Eustice, Ryan Leonard, John MIT Comp Sci & Artificial Intelligence Lab 77 Massachusetts Ave Cambridge MA 02139 USA Woods Hole Oceanograph Inst Dept Appl Ocean Phys & Engn Woods Hole MA USA

ISBN: (纸本)9783540481102

An open problem in Simultaneous Localization and Mapping (SLAM) is the development of algorithms which scale with the size of the environment. A few promising methods exploit the key insight that representing the posterior in the canonical form parameterized by a sparse information matrix provides significant advantages regarding computational efficiency and storage requirements. Because the information matrix is naturally dense in the case of feature-based SLAM, additional steps are necessary to achieve sparsity. The delicate issue then becomes one of performing this sparsification in a manner which is consistent with the original distribution. In this paper, we present a SLAM algorithm based in the information form in which sparseness is preserved while maintaining consistency. We describe an intuitive approach to controlling the population of the information matrix by essentially ignoring a small fraction of proprioceptive measurements whereby we track a modified version of the posterior. In this manner, the Exactly Sparse Extended Information Filter (ESEIF) performs exact inference, employing a model which is conservative relative to the standard distribution. We demonstrate our algorithm both in simulation as well as on two nonlinear datasets, comparing it against the standard EKF as well as the Sparse Extended Information Filter (SEIF) by Thrun et al. The results convincingly show that our method yields conservative estimates for the robot pose and map which are nearly identical to those of the EKF in comparison to the SEIF formulation which results in overconfident error bounds.

关键词： Computational efficiency

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Hierarchical conditional random fields for GPS-Based activity recognition

Hierarchical conditional random fields for GPS-Based activit...

引用

12th International Symposium on robotics Research (ISRR)

作者： Liao, Lin Fox, Dieter Kautz, Henry Univ Washington Dept Comp Sci & Engn Seattle WA 98195 USA

ISBN: (纸本)9783540481102

Learning patterns of human behavior from sensor data is extremely important for high-level activity inference. We show how to extract a person's activities and significant places from traces of GPS data. Our system uses hierarchically structured conditional random fields to generate a consistent model of a person's activities and places. In contrast to existing techniques, our approach takes high-level context into account in order to detect the significant locations of a person. Our experiments show significant improvements over existing techniques. Furthermore, they indicate that our system is able to robustly estimate a person's activities using a model that is trained from data collected by other persons.

关键词： Random processes

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Trends in robotic software frameworks

Trends in robotic software frameworks

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Brugali, Davide Broten, Gregory S. Cisternino, Antonio Colombo, Diego Fritsch, Jannik Gerkey, Brian Kraetzschmar, Gerhard Vaughan, Richard Utz, Hans Univ Study Bergamo Bergamo Italy Def R&D Ottawa ON Canada Univ Pisa Pisa Italy IMT Alti Studi Lucca Italy Univ Bielefeld Bielefeld Germany SRI Int Menlo Pk CA USA Fraunhofer Inst Autonom Intelligent Syst Munich Germany Simon Fraser Univ Burnaby BC V5A 1S6 Canada Ames Res Ctr Moffett Field CA 94035 USA

ISBN: (纸本)9783540689492

In the software community, a framework indicates an integrated set of domainspecific software components [CS95] which can be reused to create applications. A framework is more than a library of software components: It defines the common architecture underlying the particular applications built on the framework. Frameworks are a powerful development approach as they consist of both reusable code (the component library) and reusable design (the architecture). © springer-Verlag Berlin Heidelberg 2007.

关键词： Application programs

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Haptic virtual fixtures for robot-assisted manipulation

Haptic virtual fixtures for robot-assisted manipulation

引用

12th International Symposium on robotics Research (ISRR)

作者： Abbott, Jake J. Marayong, Panadda Okamura, Allison M. ETH Inst Robot & Intelligent Syst Zurich Switzerland Johns Hopkins Univ Dept Mech Engn Baltimore MD 21218 USA

ISBN: (纸本)9783540481102

Haptic virtual fixtures are software-generated force and position signals applied to human operators in order to improve the safety, accuracy, and speed of robot-assisted manipulation tasks. Virtual fixtures are effective and intuitive because they capitalize on both the accuracy of robotic systems and the intelligence of human operators. In this paper, we discuss the design, analysis, and implementation of two categories of virtual fixtures: guidance virtual fixtures, which assist the user in moving the manipulator along desired paths or surfaces in the workspace, and forbidden-region virtual fixtures, which prevent the manipulator from entering into forbidden regions of the workspace. Virtual fixtures are analyzed in the context of both cooperative manipulation and telemanipulation systems, considering issues related to stability, passivity, human modeling, and applications.

关键词： Manipulators

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Expo 2005 robotics project

Expo 2005 robotics project

引用

12th International Symposium on robotics Research (ISRR)

作者： Hirukawa, Hirohisa Inoue, Hirochika Natl Inst Adv Ind Sci & Technol 1-1-1 Umezno Tsukuba Ibaraki 3058568 Japan

ISBN: (纸本)9783540481102

This paper overviews a robotics project at the Expo 2005. The project consists of long term experimental evaluation of practical robots at the Expo site simulating the society in the future and short term demonstration of prototype robots. The long term evaluation can let robots advance from the demonstration level to the practical use one, and the short term demonstration from the single shot experiment level to the demonstration one.

关键词： Demonstrations

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Subjective localization with action respecting embedding

Subjective localization with action respecting embedding

引用

12th International Symposium on robotics Research (ISRR)

作者： Bowling, Michael Wilkinson, Dana Ghodsi, Ali Milstein, Adam Univ Alberta Dept Comp Sci Edmonton AB T6G 2M7 Canada Univ Waterloo Sch Comp Sci Waterloo ON Canada Univ Waterloo Dept Stat & Actuarial Sci Waterloo ON Canada

ISBN: (纸本)9783540481102

Robot localization is the problem of how to estimate a robot's pose within an objective frame of reference. Traditional localization requires knowledge of two key conditional probabilities: the motion and sensor models. These models depend critically on the specific robot as well as its environment. Building these models can be time-consuming, manually intensive, and can require expert intuitions. However, the models are necessary for the robot to relate its own subjective view of sensors and motors to the robot's objective pose. In this paper we seek to remove the need for human provided models. We introduce a technique for subjective localization, relaxing the requirement that the robot localize within a global frame of reference. Using an algorithm for action-respecting non-linear dimensionality reduction, we learn a subjective representation of pose from a stream of actions and sensations. We then extract from the data natural motion and sensor models defined for this new representation. Monte Carlo localization is used to track this representation of the robot's pose while executing new actions and receiving new sensor readings. We evaluate the technique in a synthetic image manipulation domain and with a mobile robot using vision and laser sensors.

关键词： Robot applications

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Surface mining: Main research issues for autonomous operations

Surface mining: Main research issues for autonomous operatio...

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12th International Symposium on robotics Research (ISRR)

作者： Nebot, Eduardo M. Univ Sydney Australian Ctr Field Robot CRC Min Sydney NSW 2006 Australia

ISBN: (纸本)9783540481102

This paper presents the author's view on the main challenges for autonomous operation in surface mining environment. A brief overview of the mine operation is presented showing the number of components that needs to interact in a safe, robust and efficient manner. Successful implementation of autonomous systems in field robotic applications are presented with a discussion of the fundamental problems that needs to be addressed to have this technology accepted in mining operations.

关键词： robotics

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An integration framework for developing interactive robots

An integration framework for developing interactive robots

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IEEE International Conference on robotics and Automation (ICRA)

作者： Fritsch, Jarmik Wrede, Sebastian Univ Bielefeld Fac Technol Apple Comp Sci D-4800 Bielefeld Germany

ISBN: (纸本)9783540689492

In recent years there is an increasing interest in building personal robots that are capable of a human-like interaction. In addition to multi-modal interaction skills, such a robot must also be able to adapt itself to unknown environments and, therefore, it has to be capable of knowledge acquisition in a lifelong learning process. Moreover, as humans are around, reactive control of the robot’s hardware is important, too. Consequently, researchers aiming to realize a personal robot have to integrate a variety of features. Due to the very different nature of the necessary capabilities, interactive robotics research is thus a truly interdisciplinary challenge. © springer-Verlag Berlin Heidelberg 2007.

关键词： Human robot interaction

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On the probabilistic foundations of probabilistic roadmap planning

On the probabilistic foundations of probabilistic roadmap pl...

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12th International Symposium on robotics Research (ISRR)

作者： Hsu, David Latombe, Jean-Claude Kurniawati, Hanna Natl Univ Singapore Dept Comp Sci Singapore 117543 Singapore Stanford Univ Dept Comp Sci Stanford CA 94305 USA

ISBN: (纸本)9783540481102

Why are probabilistic roadmap (PRM) planners "probabilistic"? This paper tries to establish the probabilistic: foundations of PRM planning and re-examines previous work in this context. It shows that the success of PRM planning depends mainly and critically on the assumption that the configuration space C of a robot often verifies favorable "visibility" properties that are not directly dependent on the dimensionality of C. A promising way of speeding up PRM planners is to extract partial knowledge on such properties during roadmap construction and use this knowledge to adjust the sampling measure continuously. This paper also shows that the choice of the sampling source-pseudo-random or deterministic-has small impact on a PRM planner's performance, compared to that of the sampling measure. These conclusions are supported by both theoretical arguments and empirical results.

关键词： Robot programming

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Increasing decoupling in the *** framework

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Cisternino, Antonio Colombo, Diego Ambriola, Vincenzo Combetto, Marco Univ Pisa Dept Comp Sci I-56100 Pisa Italy IMT Alti Studi Lucca Lucca Italy Microsoft Res Ltd Cambridge England

ISBN: (纸本)9783540689492

The advent of social robots increases significantly the number and the kind of robotics systems to be controlled. Since CSRS software depends on the particular hardware architecture of a robot, software reuse becomes a significant issue. Reuse is usually achieved by packaging software in modules, by abstracting a well defined set of functionalities. © springer-Verlag Berlin Heidelberg 2007.

关键词： Computer software reusability

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