Navigation in unknown or partially unknown environments remains one of the biggest challenges in today's mobile robotics. Environmental modeling, perception, localization and mapping are all needed for a successfu...
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ISBN:
(数字)9783540330141
ISBN:
(纸本)3540288163
Navigation in unknown or partially unknown environments remains one of the biggest challenges in today's mobile robotics. Environmental modeling, perception, localization and mapping are all needed for a successful approach. The contribution of this paper resides in the extension of the fingerprint concept (circular list of features around the robot) with uncertainty modeling, in order to improve localization and allow for automatic map building. The uncertainty is defined as the probability of a feature of being present in the environment when the robot perceives it. The whole approach is presented in details and viewed in a topological optic. Experimental results of the perception and localization capabilities with a mobile robot equipped with two 180 degrees laser range finders and an onmi-directional camera are reported.
This paper describes two circular microphone arrays and a square microphone array which can be used for sound localization and sound capture. Sound capture by microphone array is achieved by Sum and Delay Beam Former ...
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ISBN:
(数字)9783540330141
ISBN:
(纸本)3540288163
This paper describes two circular microphone arrays and a square microphone array which can be used for sound localization and sound capture. Sound capture by microphone array is achieved by Sum and Delay Beam Former (SDBF). Simulation of sound pressure distribution of 32 & 128ch circular microphone array and 128ch square microphone array are shown. According to simulation results, dedicated PCI 128-channel simultaneous input board and Firewire (IEEE1394) 32-channel board are developed with maximum sampling rate of 44.1 kHz and 11.025 kHz sample respectively. Then a 32ch circular microphone array and a 128ch square microphone array have been developed. The 32ch circular microphone array can capture sound from an arbitrary direction. The 128ch square microphone array can capture sound from a specific point. Both systems are evaluated by using frequency components of the sound. The circular type system will be used on a mobile robot including humanoid robot, and square type will be extend towards room coverage type application.
In this paper, we present a method which allows pose stabilization of a car-like vehicle to a learnt location based on feature bearing angle and range discrepancies between the vehicle's current view of the enviro...
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ISBN:
(纸本)3540328017
In this paper, we present a method which allows pose stabilization of a car-like vehicle to a learnt location based on feature bearing angle and range discrepancies between the vehicle's current view of the environment, and that at the learnt location. We then extend the technique to include obstacle avoidance. Simulations and experimental results using our outdoor mobile platform are presented.
This paper addresses the problem of simultaneous localization and mapping (SLA M) for teams of collaborating vehicles where the communication bandwidth is limited. We present a novel SLAM algorithm that enables multip...
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ISBN:
(纸本)3540328017
This paper addresses the problem of simultaneous localization and mapping (SLA M) for teams of collaborating vehicles where the communication bandwidth is limited. We present a novel SLAM algorithm that enables multiple vehicles to acquire a joint map, but which can cope with arbitrary latency and bandwidth limitations such as typically found in airborne vehicle applications. The key idea is to represent maps in information form (negative log-likelihood), and to selectively communicate subsets of the information tailored to the available communication resources. We show that our communication scheme preserves the consistency, which has important ramifications for data association problems. We also provide experimental results that illustrate the effectiveness of our approach in comparison with previous techniques.
We describe the development of Centibots, a framework for very large teams of robots that are able to perceive, explore, plan and collaborate in unknown environments. The Centibots team currently consist of approximat...
ISBN:
(数字)9783540330141
ISBN:
(纸本)3540288163
We describe the development of Centibots, a framework for very large teams of robots that are able to perceive, explore, plan and collaborate in unknown environments. The Centibots team currently consist of approximately 100 robots (Figure 1). The Centibots team can be deployed in unexplored areas, and can efficiently distribute tasks among themselves; the system also makes use of a mixed initiative mode of interaction in which a user can influence missions as necessary. In contrast to simulation-based systems which abstract away aspects of the environment for the purposes of exploring component technologies, the Centibots design reflects an integrated end-to-end system.
This paper presents a compact Millimeter Wave (MMW) radar unit that has been developed to be used as a Range, Bearing and Elevation (RBE) sensor on the Brumby Mk III Unmanned Air Vehicles (UAV). The Brumby MkIII is th...
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ISBN:
(纸本)3540328017
This paper presents a compact Millimeter Wave (MMW) radar unit that has been developed to be used as a Range, Bearing and Elevation (RBE) sensor on the Brumby Mk III Unmanned Air Vehicles (UAV). The Brumby MkIII is the flight platform used in the Autonomous Navigation and Sensing Experimental Research (ANSER) project which is focused on the development and demonstration of the Decentralised Data Fusion (DDF) and Simultaneous Localisation and Map Building (SLAM) algorithms on multiple UAVs. In the airborne DDF and SLAM demonstrations with UAVs, it is essential to have a terrain sensor on board for the RBE measurements of the ground targets. The focus of this paper is the hardware and software components of the MMW radar as an RBE sensor in the context of the ANSER project.
New human machine interfaces are becoming more and more necessary in robotics applications where the robot operates in close cooperation with a human, and one near to each other. Many of these applications require int...
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ISBN:
(数字)9783540330141
ISBN:
(纸本)3540288163
New human machine interfaces are becoming more and more necessary in robotics applications where the robot operates in close cooperation with a human, and one near to each other. Many of these applications require intuitive interaction systems since they are used by non robotic experts, thus the use of natural language based interfaces (either voice or gestures) are highly convenient. This research tackles the problem of interpreting the user arm and hand gestures as orders to the system, while the user is working close to the robot. The proposed human-machine interface looks for a compromise between classical interfaces and the hands free operation requirements.
This paper presents the design concept of a hyper-redundant haptic interface with 10 actuated degrees-of-freedom (DOF). The kinematical redundancies allow a significantly larger workspace, while reducing the overall d...
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ISBN:
(纸本)3540288163
This paper presents the design concept of a hyper-redundant haptic interface with 10 actuated degrees-of-freedom (DOF). The kinematical redundancies allow a significantly larger workspace, while reducing the overall device size. Moreover, an increase in a variety of dexterity measures and a singularity robust redundancy resolution can be achieved. Numerical studies comparing the performance of local redundancy optimisation techniques are presented along with the results of hardware experiments for closed loop performance.
Current methods for off-road navigation using vehicle and terrain models to predict future vehicle response are limited by the accuracy of the models they use and can suffer if the world is unknown or if conditions ch...
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ISBN:
(纸本)3540328017
Current methods for off-road navigation using vehicle and terrain models to predict future vehicle response are limited by the accuracy of the models they use and can suffer if the world is unknown or if conditions change and the models become inaccurate. In this paper, an adaptive approach is presented that closes the loop around the vehicle predictions. This approach is applied to an autonomous vehicle driving through unknown terrain with varied vegetation. Features are extracted from range points from forward looking sensors. These features are used by a locally weighted learning module to predict the load-bearing surface, which is often hidden by vegetation. The true surface is then found when the vehicle drives over that area, and this feedback is used to improve the model. Results using real data show improved predictions of the load-bearing surface and successful adaptation to changing conditions.
This paper presents a framework for the coordinated execution of tasks in robotic systems with a high degree of freedom such as humanoid robots. Focusing on tasks to be executed by different subsystems of the robot (e...
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ISBN:
(纸本)3540288163
This paper presents a framework for the coordinated execution of tasks in robotic systems with a high degree of freedom such as humanoid robots. Focusing on tasks to be executed by different subsystems of the robot (e.g. mobile platform, two redundant arms, a head with vision and acoustic system), a motion coordination scheme is presented. The coordination scheme is based on the synchronization of the motion of each subsystem while performing a common task. The validity of the proposed coordination scheme is experimentally demonstrated by different tasks of the humanoid robot e.g. two-arm tasks, head-arm tasks or platform-arm tasks.
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