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

共 918 条记录，以下是691-700 订阅

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V shape path generation for loading operation by wheel loader 5th

V shape path generation for loading operation by wheel loade...

引用

5th International Conference on Field and Service robotics

作者： Sarata, Shigeru Weeramhaeng, Yossewee Horiguchi, Akira Tsubouchi, Takashi AIST Namiki 1-2-1 Tsukuba Ibaraki Japan Univ Tsukuba Tsukuba Ibaraki 305 Japan Sago Security Serv Co Saitama Japan

ISBN: (纸本)3540334521

In this paper, as a part of research work on the autonomous loading operation by wheel loader at surface mines or construction working places, a method of path generation for wheel loader will be described. V shape path connecting between the scooping position and the loading position consists of clothoid curves and straight lines. Each length of line segments are optimized in path generation procedure. The scooping direction is determined based on the estimation of resistance force applied on the bucket during scooping motion, by using simplified shape model of pile and bucket. trajectory model. Proposed method. is installed. on the experimental model. Shape of the pile is measured by a stereo-vision system. For giving scooping position, scooping direction giving the least moment on the bucket is selected. By this method, appropriate path is generated.

关键词： path generation wheel loader loading operation scooping

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Further results with localization and mapping using range from radio 5th

Further results with localization and mapping using range fr...

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5th International Conference on Field and Service robotics

作者： Djugash, Joseph Singh, Sanjiv Corke, Peter Carnegie Mellon Univ 5000 Forbes Ave Pittsburgh PA 15213 USA CSIRO ICT Ctr Kenmore 4069 Australia

ISBN: (纸本)3540334521

In this paper, we present recent results with using range from radio for mobile robot localization. In previous work we have shown how range readings from radio tags placed in the environment can be used to localize a robot. We have extended previous work to consider robustness. Specifically, we are interested in the case where range readings are very noisy and available intermittently. Also, we consider the case where the location of the radio tags is not known at all ahead of time and must be solved for simultaneously along with the position of the moving robot. We present results from a mobile robot that is equipped with GPS for ground truth, operating over several km.

关键词： SLAM range-based localization kalman filter particle filter

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Wavelet occupancy grids: A method for compact map building 5th

Wavelet occupancy grids: A method for compact map building

引用

5th International Conference on Field and Service robotics

作者： Yguel, Manuel Aycard, Olivier Laugier, Christian UJF GRAVIR INRIA INPE Mot Grenoble France INRIA Rhone Alpes F-38334 Saint Ismier France

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Embodied social interaction for service robots in hallway environments 5th

Embodied social interaction for service robots in hallway en...

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5th International Conference on Field and Service robotics

作者： Pacchierotti, Elena Christensen, Henrik I. Jensfelt, Patric Swedish Royal Inst Technol Ctr Autonomous Syst SE-10044 Stockholm Sweden

ISBN: (纸本)3540334521

A key aspect of service robotics for everyday use is the motion in close proximity to humans. It is essential that the robot exhibits a behavior that signals safety of motion and awareness of the persons in the environment. To achieve this, there is a need to define control strategies that are perceived as socially acceptable by users that are not familiar with robots. In this paper a system for navigation in a hallway is presented, in which the rules of proxemics are used to define the interaction strategies. The experimental results show the contribution to the establishment of effective spatial interaction patterns between the robot and a person.

关键词： service robotics hallway navigation robot-human interaction embodied social interaction

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Trajectory generation on rough terrain considering actuator dynamics 5th

Trajectory generation on rough terrain considering actuator ...

引用

5th International Conference on Field and Service robotics

作者： Howard, Thomas M. Kelly, Alonzo Carnegie Mellon Univ Inst Robot 5000 Forbes Ave Pittsburgh PA 15213 USA

ISBN: (纸本)3540334521

Trajectory generation has traditionally been formulated on the assumption that the environment is flat. On rough terrain, however, deviations of the angular velocity vector from the vertical lead to errors which accumulate in a manner similar to the accumulation of attitude errors in odometry. In practice, feedback control can compensate for these errors in modeling by adjusting the path in real time. In many realistic cases, however, the 3D shape of the terrain is known beforehand, so it is possible to incorporate terrain shape into the predictive model rather than treat it as an unknown disturbance. This paper presents an algorithm for trajectory generation which compensates for terrain shape in a predictive fashion. The numerical implementation makes it adaptable readily to a broad class of vehicles and even a broad class of predictable disturbances beyond terrain shape. In support of the latter, we demonstrate the ability to invert models of actuator dynamics and wheel slip concurrently with 3D terrain. An example application for a the Rocky 7 Mars rover platform is presented.

关键词： trajectory generation rough terrain robot control nonholonomic mobile robots

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Development of a networked robotic system for disaster mitigation - Test bed experiments for remote operation over rough terrain and high resolution 3D geometry acquisition 5th

Development of a networked robotic system for disaster mitig...

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5th International Conference on Field and Service robotics

作者： Yoshida, Kazuya Nagatani, Keiji Kiyokawa, Kiyoshi Yagi, Yasushi Adachi, Tadashi Saitoh, Hiroaki Tanaka, Hiroyuki Ohno, Hiroyuki Tohoku Univ Sendai Miyagi 980 Japan Osaka Univ Suita Osaka 565 Japan IHI Aerop Co Ltd Tokyo 1008182 Japan Natl Inst Informat & Commun Technol Assam 788010 India

ISBN: (纸本)3540334521

In this paper, a newly initiated project of networked robotic system for disaster mitigation is introduced. In this project, multiple robots are coordinately operated through ad-hoe wireless communication network, including satellite-based IP communication link, for surveillance tasks at a disaster site. The robot system consists of a large-scale outdoor robot to serve as a carrier of small robots and a fleet of small robots to be deployed at a specific spot such as an inside of a building complex. A combination of a laser range scanner and an omni-directional camera is used to acquire high resolution 3D geometry data and rendering images. Those data and. images are displayed using Mixed Reality (MR) technology at a remote site to provide an overall picture for operation managers with high fidelity. This paper presents our initial experiments using a robot test bed with an emphasis on remote operation over rough terrain and for acquisition of high resolution 3D geometry data and telepresence using MR technology.

关键词： disaster mitigation surveillance robots wireless and satellite-based IP communication ad-hoc networking telepresence and teleoperation omnidirectional camera laser range scanner mixed reality

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A wearable GUI for field robots 5th

A wearable GUI for field robots

引用

5th International Conference on Field and Service robotics

作者： Hedstrom, Andreas Christensen, Henrik I. Lundberg, Carl Royal Inst Technol KTH Numer Anal & Comp Sci NADACAS S-10044 Stockholm Sweden

ISBN: (纸本)3540334521

In most search and rescue or reconnaissance missions involving field robots the requirements of the operator being mobile and alert to sudden changes in the near environment, are just as important as the ability to control the robot proficiently. This implies that the GUI platform should be light-weight and portable, and that the GUI itself is carefully designed for the task at hand. In this paper different platform solutions and design of a user-friendly GUI for a packbot will be discussed. Our current wearable system will be presented along with some results from initial field tests in urban search and rescue facilities.

关键词： GUI field robot wearable

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Visual motion estimation for an autonomous underwater reef monitoring robot 5th

Visual motion estimation for an autonomous underwater reef m...

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5th International Conference on Field and Service robotics

作者： Dunbabin, Matthew Usher, Kane Corke, Peter CSIRO ICT Ctr POB 883 Kenmore Qld 4069 Australia

ISBN: (纸本)3540334521

Performing reliable localisation and navigation within highly unstructured underwater coral reef environments is a difficult task at the best of times. Typical research and commercial underwater vehicles use expensive acoustic positioning and sonar systems which require significant external infrastructure to operate effectively. This paper is focused on the development of a robust vision-based motion estimation technique using low-cost sensors for performing real-time autonomous and untethered environmental monitoring tasks in the Great Barrier Reef without the use of acoustic positioning. The technique is experimentally shown to provide accurate odometry and terrain profile information suitable for input into the vehicle controller to perform a range of environmental monitoring tasks.

关键词： Reefs

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Development of an angular characterisation system for cooperative UAV/UGV applications 5th

Development of an angular characterisation system for cooper...

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5th International Conference on Field and Service robotics

作者： Thompson, Paul Sukkarieh, Salah Univ Sydney Australian Ctr Field Robot ARC Ctr Excellence Autonomous Syst Rose St BldgJ04 Sydney NSW 2006 Australia

ISBN: (纸本)3540334521

This paper develops a theory for the decentralised estimation of angular profiles for point characterisation. Angular profiles are an example of spatially distributed characterisation which may be further processed for classification and identification. This paper also describes the development of a vision system for integration into a decentralised data fusion system for tracking and characterisation. Visual results are presented showing the field setup and sensor observations.

关键词： characterisation decentralised estimation vision angular profile information theoretic properties

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A non-rigid approach to scan alignment and change detection using range sensor data 5th

A non-rigid approach to scan alignment and change detection ...

引用

5th International Conference on Field and Service robotics

作者： Kaestner, Ralf Thrun, Sebastian Montemerlo, Michael Whalley, Matt Stanford Univ Dept Comp Sci Robot Lab Stanford CA 94305 USA Army NASA Rotorcraft Div AMRDEC Ames IA USA Ames Res Ctr US Army Res Dev & Engn Command Ames IA USA

ISBN: (纸本)3540334521

We present a probabilistic technique for alignment and subsequent change detection using range sensor data. The alignment method is derived from a novel, non-rigid approach to register point clouds induced by pose-related range observations that are particularly erroneous. It allows for high scan estimation errors to be compensated distinctly, whilst considering temporally successive measurements to be correlated. Based on the alignment, changes between data sets are detected using a probabilistic approach that is capable of differentiating between likely and unlikely changes. When applied to observations containing even small differences, it reliably identifies intentionally introduced modifications.

关键词： Change detection

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