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

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Experiments in robot control from uncalibrated overhead imagery

Experiments in robot control from uncalibrated overhead imag...

引用

9th International Symposium on Experimental robotics (ISER)

作者： Rao, R Taylor, C Kumar, V Univ Penn GRASP Lab Philadelphia PA 19104 USA

ISBN: (纸本)3540288163

In this work we address the problem of controlling a ground robot based on aerial image feedback in real time. We present an analysis of the relationship between a robot's ground velocity and the velocity of it's projection in the image. We also show how a subset of the parameters of the homography relating the ground plane and the image plane can be extracted from motion correspondences and subsequently used in a sample control task. Further, we extend our analysis to the case of robot control from a moving overhead camera using image feedback. The experimental implementation and validation of the schemes we have presented is one of the central goals of this paper. [GRAPHICS]

关键词： Feedback

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Robust haptic teleoperation of a mobile manipulation platform

Robust haptic teleoperation of a mobile manipulation platfor...

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9th International Symposium on Experimental robotics (ISER)

作者： Park, J Khatib, O Stanford Univ Stanford AI Lab Stanford CA 94305 USA

ISBN: (纸本)3540288163

This paper presents a new teleoperation scheme for mobile manipulation systems. A virtual spring connects a master and slave system where local force feedback on the slave system compensates for the dynamics of the mobile manipulator. This scheme is robust in the presence of time delays and disturbances and provides good tele-presence. The slave manipulator is mounted on a mobile base and controlled within the operational space framework. In this framework, the redundancy of the mobile manipulation system is addressed through a decoupled decomposition of task and posture dynamics.

关键词： Remote control

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Deployment and connectivity repair of a sensor net with a flying robot

Deployment and connectivity repair of a sensor net with a fl...

引用

9th International Symposium on Experimental robotics (ISER)

作者： Corke, P Hrabar, S Peterson, R Rus, D Saripalli, S Sukhatme, G CSIRO ICT Centre Australia Center for Robotics and Embedded Systems University of Southern California Los AngelesCA United States Dartmouth Computer Science Department HanoverNH03755 United States Computer Science and Artificial Intelligence Laboratory MIT CambridgeMA02139 United States

ISBN: (纸本)3540288163

We consider multi-robot systems that include sensor nodes and aerial or ground robots networked together. Such networks are suitable for tasks such as large-scale environmental monitoring or for command and control in emergency situations. We present a sensor network deployment method using autonomous aerial vehicles and describe in detail the algorithms used for deployment and for measuring network connectivity and provide experimental data collected from field trials. A particular focus is on determining gaps in connectivity of the deployed network and generating a plan for repair, to complete the connectivity. This project is the result of a collaboration between three robotics labs (CSIRO, USC, and Dartmouth.).

关键词： Repair

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Autonomous navigation results from the Mars Exploration Rover (MER) mission 1

引用

9th International Symposium on Experimental robotics (ISER)

作者： Maimone, M Johnson, A Cheng, Y Willson, R Matthies, L CALTECH Jet Prop Lab 4800 Oak Grove Dr Pasadena CA 91109 USA

ISBN: (数字)9783540330141

ISBN: (纸本)3540288163

In January, 2004, the Mars Exploration Rover (MER) mission landed two rovers, Spirit and Opportunity, oil the surface of Mars. Several autonomous navigation capabilities were employed in space for the first time in this mission. In the Entry, Descent, and Landing (EDL) phase, both landers used a vision system called the Descent Image Motion Estimation System (DIMES) to estimate horizontal velocity during the last 2000 meters (m) of descent, by tracking features on the ground with a downlooking camera, in order to control retro-rocket firing to reduce horizontal velocity before impact. During surface operations, the rovers navigate autonomously using stereo vision for local terrain mapping and a local, reactive planning algorithm called Grid-based Estimation of Surface Traversability Applied to Local Terrain (GESTALT) for obstacle avoidance. In areas of high slip, stereo vision-based visual odometry has been used to estimate rover motion. As of mid-June, Spirit had traversed 3405 m, of which 1253 m were done autonomously;Opportunity had traversed 1264 m, of which 224 in were autonomous. These results have contributed substantially to the success of the mission and paved the way for increased levels of autonomy in future missions.

关键词： Rovers

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Spraying robot for grape production

引用

4th International Conference on Field and Service robotics

作者： Ogawa, Yuichi Kondo, Naoshi Monta, Mitsuji Shibusawa, Sakae Kawase Initiative Research Unit RIKEN The Institute of Physicaland Chemical Research Japan Department of Technology Development Ishii Industry Co. Ltd. Japan Faculty of Agriculture Okayama University Japan Faculty of Agriculture Tokyo University of Agricultureand Technology Japan

ISBN: (纸本)3540328017

A robot which could spray chemicals under grapevine trellis was developed and experimented. From the experimental results, it was observed that the robot system made precise spraying operation and its precise operation record possible. Based on the precise operations and records, an optimum management of chemicals could be expected, that is, necessary amount of chemicals would be sprayed only at necessary places for protection of environment and ecosystem. In addition, it was considered that this robot would be able to contribute the minimum input-maximum output production system by establishment of traceability system in grape production.

关键词： Robots

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Experiments in learning helicopter control from a pilot

引用

4th International Conference on Field and Service robotics

作者： Buskey, Gregg Roberts, Jonathan Wyeth, Gordon CSIRO Mfg & Infrastruct Technol POB 883 Kenmore Qld 4069 Australia Univ Queensland Sch Informat Technol & Elect Engn Queensland Australia

ISBN: (纸本)3540328017

This paper details the development of a machine learning system which uses the helicopter state and the actions of an instructing pilot to synthesise helicopter control modules online. Aggressive destabilisation/restabilisation sequences are used for training, such that a wide state-space envelope is covered during training. The performance of heading, roll, pitch, height and lateral velocity control learning is presented using our Xcell 60 experimental platform. The helicopter is demonstrated to be stabilised on all axes using the "learning from a pilot" technique. To our knowledge, this is the first time a "learning from a pilot" technique has been successfully applied to all axes.

关键词： Helicopters

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Sensor-based walking on rough terrain for legged robots

引用

4th International Conference on Field and Service robotics

作者： Mae, Yasushi Mure, Tatsuhi Inoue, Kenji Arai, Tatsuo Koyachi, Noriho Osaka Univ Grad Sch Engn Sci 1-3 Machikaneyama Toyonaka Osaka 5608531 Japan Nat Inst Advanced Ind Sci & Technol Intelligent Syst Inst Ibaraki 3058568 Japan

ISBN: (纸本)3540328017

A simple sensor-based walking on rough terrains for legged robots using an acceleration sensor attached to the body is described. The algorithm is implemented to a developed proto-type robot with limb mechanism, which has six limbs that can be used for both locomotion and manipulation. The six limbs are arranged on the body radially to have uniform property in all directions. This symmetrical structure allows the robot to generate a gait trajectory for omnidirectional locomotion in a simple manner. The trajectory of the sensor-based walking is obtained by a small conversion of this simple trajectory. The proto-type robot walks on the uneven ground while adjusting the pose of the body to keep high stability margin. Finally, adequate footholds of supporting limbs are examined for manipulation tasks by two neighboring limbs of the robot.

关键词： Robots

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Development of an autonomous conveyor-bolting machine for the underground coal mining industry

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4th International Conference on Field and Service robotics

作者： Ralston, Jonathon C. Hargrave, Chad O. Hainsworth, David W. CSIRO Explorat & Min Min Automat Technol Court Pullenvale Qld 4069 Australia

ISBN: (纸本)3540328017

This paper describes the development of a new autonomous conveyor and bolting machine (ACBM) used for the rapid development of roadways in underground coal mines. The ACBM is a mobile platform fitted with four independent bolting rigs, bolt storage and delivery carousel, coal receiving hopper and through-conveyor for coal transport. The ACBM is designed to operate in concert with a standard continuous mining machine during the roadway development process to automatically insert roof and wall bolts for securing the roadway. This innovative machine offers significant benefits for increasing personnel safety and improving productivity. The paper describes the core sensing and processing technologies involved in realizing the level of automation required by the ACBM, which includes online roof monitoring, roadway profiling, navigation, and automatic control of drilling and bolting processes.

关键词： Roofs

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Comparison of temporal filters for optical flow estimation in continuous mobile robot navigation

Comparison of temporal filters for optical flow estimation i...

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9th International Symposium on Experimental robotics (ISER)

作者： McCarthy, C Barnes, N Univ Melbourne Dept Comp Sci & Software Engn Parkville Vic 3052 Australia Natl ICT Autonomous Syst & Sensing Technol Prog Melbourne Vic Australia

ISBN: (纸本)3540288163

We present our complete study involving comparisons of three spatio-temporal filters used in the estimation of optical flow for continuous mobile robot navigation. Previous comparisons of optical flow and associated techniques have compared performance in terms of accuracy and/or efficiency, and only in isolation. These comparisons are inadequate for addressing applicability to continuous, real-time operation as part of a robot control loop. In recent work [11], we presented a comparison of optical flow techniques for corridor navigation through two biologically inspired behaviours: corridor centring and visual odometry. In that study, flow was predominantly constant. In this paper we give new results from comparisons for flow-divergence based docking, where flow is non-constant. Results for traditionally used Gaussian filters indicate that long latencies significantly impede performance for real-time tasks in the control loop.

关键词： Optical flows

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Driving on a known sensori-motor trajectory with a car-like robot

Driving on a known sensori-motor trajectory with a car-like ...

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9th International Symposium on Experimental robotics (ISER)

作者： Pradalier, C Bessière, P Laugier, C INRIA Rhone Alpes Unite Rech GRAVIR Lab INP Grenoble Zirst655 Ave Europe F-38334 Saint Ismier France

ISBN: (纸本)3540288163

Autonomous navigation of a mobile robot along a predefined trajectory is a widely studied problem in the robotics community. We propose a Bayesian architecture that aims at being able to replay any sensori-motor trajectory - trajectory defined as a sequence of perceptions and actions - as long as the robot starts in its neighbourhood. In order to increase robustness, we also use this Bayesian framework to build our controller and an obstacle avoidance module. This work has been validated both on a simulated robot and on a real robot: the CyCab.

关键词： Trajectories

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