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

共 918 条记录，以下是71-80 订阅

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A New Approach to Model-Free Tracking with 2D Lidar 16th

A New Approach to Model-Free Tracking with 2D Lidar

引用

16th International Symposium on robotics Research (ISSR)

作者： Wang, Dominic Zeng Posner, Ingmar Newman, Paul Univ Oxford Mobile Robot Grp Oxford England

ISBN: (纸本)9783319288727;9783319288703

This paper presents a unified and model-free framework for the detection and tracking of dynamic objectswith 2D laser range finders in an autonomous driving scenario. A novel state formulation is proposed that captures joint estimates of the sensor pose, a local static background and dynamic states of moving objects. In addition, we contribute a new hierarchical data association algorithm to associate raw laser measurements to observable states, and within which, a new variant of the Joint Compatibility Branch and Bound (JCBB) algorithm is introduced for problems with large numbers of measurements. The system is calibrated systematically on 7.5K labeled object examples and evaluated on 6K test cases, and is shown to greatly outperform an existing industry standard targeted at the same problem domain.

关键词： Range finders

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Path Planning for Multi-agent Jellyfish Removal Robot System JEROS and Experimental Tests 1

引用

12th International Symposium on Distributed Autonomous Robotic Systems (DARS)

作者： Kim, Donghoon Kim, Hanguen Kim, Hyungjin Shin, Jae-Uk Myung, Hyun Kim, Young-Geun Korea Adv Inst Sci & Technol URL 291 Daehak Ro Daejeon 305701 South Korea Rastech Inc Daejeon Intelligent Robot Engn Ctr 303 35Techno 9 Ro Daejeon 305510 South Korea

ISBN: (数字)9784431558798

ISBN: (纸本)9784431558798;9784431558774

Over the recent years, the increasing influence of climate change has given rise to an uncontrolled proliferation of jellyfish in marine habitats, which has visibly damaged many ecosystems, industries, and human health. To resolve this issue, our team developed a robotic system to successfully and efficiently remove jellyfishes, named JEROS (Jellyfish Elimination RObotic Swarm). The JEROS consists of multiple USVs (Unmanned Surface Vehicles) that freely move in a marine environment to scavenge for and eliminate jellyfishes. In this paper, we propose a constrained formation control algorithm that enhances the efficiency of jellyfish removal. Our formation control algorithm is designed in consideration of the characteristic features of JEROS. It is designed to effectively work with the simple leader-follower algorithm. The leader-follower formation control does not work well if a reference path of the leader is generated without considering a minimum turning radius. In order to overcome such a limitation, a new path planning method-angular rate-constrained path planning-is proposed in this paper. The performance of the jellyfish removal function was tested at Masan Bay in the Southern coast of South Korea and formation control tests were conducted at Bang-dong Reservoir in Daejeon, South Korea.

关键词： Jellyfish removal robot Unamanned surface vehicle Path planning Multi-agent robot

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K-Redundant Trees for Safe and Efficient Multi-robot Recovery in Complex Environments 16th

K-Redundant Trees for Safe and Efficient Multi-robot Recover...

引用

16th International Symposium on robotics Research (ISSR)

作者： Habibi, Golnaz Schmidt, Lauren Jellins, Mathew McLurkin, James Rice Univ Houston TX 77005 USA Purdue Univ W Lafayette IN 47907 USA

ISBN: (纸本)9783319288727;9783319288703

This paper presents a self-stabilizing distributed algorithm to recover a large number of robots safely and efficiently in a goal location. Previously, we designed a distributed algorithm, called DMLST, to recover robots [1]. Our approach constructed a maximum-leaf spanning tree for physical routing, such that interior robots remained stationary and leaf robots move. In this paper, we extend our approach to k-DMLST recovery that provides k-connectivity in the network, meaning that each robot is connected to the goal location through k trees. This redundancy provides stronger network connectivity by reducing the probability of losing the parent during recovery. We also propose an efficient navigation algorithm for the motion of robots which guarantees forward progress during the recovery. k-DMLST recovery has been tested and compared with other methods in simulation, and implemented on a physical multi-robot system. A basic recovery algorithm fails in all experiments, and DMLST recovery is not successful in few trials. However, k-DMLST recovery efficiently recovers more than 90% of robots in all trials.

关键词： Recovery

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Considering the Effects of Gravity When Developing and Field Testing Planetary Excavator Robots 10th

Considering the Effects of Gravity When Developing and Field...

引用

10th International Conference on Field and Service robotics (FSR)

作者： Skonieczny, Krzysztof Carlone, Thomas Whittaker, W. L. Red Wettergreen, David S. Carnegie Mellon Univ Inst Robot 5000 Forbes Ave Pittsuburgh PA 15213 USA

ISBN: (纸本)9783319277028;9783319277004

One of the challenges of field testing planetary rovers on Earth is the difference in gravity between the test and the intended operating conditions. This not only changes the weight exerted by the robot on the surface but also affects the behaviour of the granular surface itself, and unfortunatly no field test can fully address this shortcoming. This research introduces novel experimentation that for the first time subjects planetary excavator robots to gravity offload (a cable pulls up on the robot with 5/6 its weight, to simulate lunar gravity) while they dig. Excavating with gravity offload underestimates the detrimental effects of gravity on traction, but overestimates the detrimental effects on excavation resistance;though not ideal, this is a more balanced test than excavating in Earth gravity, which underestimates detrimental effects on both traction and resistance. Experiments demonstrate that continuous excavation (e.g. bucket-wheel) fares better than discrete excavation (e.g. front-loader) when subjected to gravity offload, and is better suited for planetary excavation. This key result is incorporated into the development of a novel planetary excavator prototype. Lessons learned from the prototype development also address ways to mitigate suspension lift-off for lightweight skid-steer robots, a problem encountered during mobility field testing.

关键词： Excavation

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Motion Planning of Multiple Mobile Robots Based on Artificial Potential for Human Behavior and Robot Congestion 1

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12th International Symposium on Distributed Autonomous Robotic Systems (DARS)

作者： Hoshino, Satoshi Maki, Koichiro Utsunomiya Univ Dept Mech & Intelligent Engn 7-1-2 Yoto Utsunomiya Tochigi 3218585 Japan

ISBN: (数字)9784431558798

ISBN: (纸本)9784431558798;9784431558774

In order for robots to exist together with humans, safety for humans has to be ensured. On the other hand, safety might decrease working efficiency of robots. Namely, this is a trade-off problem between the human safety and robot efficiency in a field of human-robot interaction. For this problem, we propose a novel motion planning technique of multiple mobile robots. Two artificial potentials are presented for generating repulsive force. A behavior potential is provided for humans. A congestion potential is provided for robots. Through simulation experiments, the effectiveness of the behavior and congestion potentials used in the motion planning technique for the human safety and robot efficiency is discussed. Moreover, a sensing system for humans in a real environment is developed. Finally, the significance of the potential generated from the actual human behavior is discussed.

关键词： Multi-robot systems Motion planning Artificial potential method Human-robot interaction

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Building, Curating, and Querying Large-Scale Data Repositories for Field robotics Applications 10th

Building, Curating, and Querying Large-Scale Data Repositori...

引用

10th International Conference on Field and Service robotics (FSR)

作者： Nelson, Peter Linegar, Chris Newman, Paul Univ Oxford Dept Engn Sci Mobile Robot Grp Parks Rd Oxford OX1 3PJ England

ISBN: (纸本)9783319277028;9783319277004

Field robotics applications have some unique and unusual data requirements-the curating, organisation and management of which are often overlooked. An emerging theme is the use of large corpora of spatiotemporally indexed sensor data which must be searched and leveraged both offline and online. Increasingly we build systems that must never stop learning. Every sortie requires swift, intelligent read-access to gigabytes of memories and the ability to augment the totality of stored experiences by writing new memories. This however leads to vast quantities of data which quickly become unmanageable, especially when we want to find what is relevant to our needs. The current paradigm of collecting data for specific purposes and storing them in ad-hoc ways will not scale to meet this challenge. In this paper we present the design and implementation of a data management framework that is capable of dealing with large datasets and provides functionality required by many offline and online robotics applications. We systematically identify the data requirements of these applications and design a relational database that is capable of meeting their demands. We describe and demonstrate how we use the system to manage over 50TB of data collected over a period of 4 years.

关键词： Information management

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Application of Multi-Robot Systems to Disaster-Relief Scenarios with Limited Communication 10th

Application of Multi-Robot Systems to Disaster-Relief Scenar...

引用

10th International Conference on Field and Service robotics (FSR)

作者： Gregory, Jason Fink, Jonathan Stump, Ethan Twigg, Jeffrey Rogers, John Baran, David Fung, Nicholas Young, Stuart US Army Res Lab Adelphi MD USA

ISBN: (纸本)9783319277028;9783319277004

In this systems description paper, we present a multi-robot solution for intelligence-gathering tasks in disaster-relief scenarios where communication quality is uncertain. First, we propose a formal problem statement in the context of operations research. The hardware configuration of two heterogeneous robotic platforms capable of performing experiments in a relevant field environment and a suite of autonomy-enabled behaviors that support operation in a communication-limited setting are described. We also highlight a custom user interface designed specifically for task allocation amongst a group of robots towards completing a central mission. Finally, we provide an experimental design and extensive, preliminary results for studying the effectiveness of our system.

关键词： Multipurpose robots

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Robust Contact Generation for Robot Simulation with Unstructured Meshes 16th

Robust Contact Generation for Robot Simulation with Unstruct...

引用

16th International Symposium on robotics Research (ISSR)

作者： Hauser, Kris Indiana Univ Bloomington IN 47405 USA

ISBN: (纸本)9783319288727;9783319288703

This paper presents a numerically stablemethod for rigid body simulation of unstructured meshes undergoing forceful contact, such as in robot locomotion and manipulation. The key contribution is a new contact generation method that treats the geometry as having a thin virtual boundary layer around the underlying meshes. Unlike existing methods, it produces contact estimates that are stable with respect to small displacements, which helps avoid jitter or divergence in the simulator caused by oscillatory discontinuities. Its advantages are particularly apparent on non-watertight meshes and can easily simulate interaction with partially-sensed and noisy objects, such as those that emerge from low-cost 3D scanners. The simulator is tested on a variety of robot locomotion and manipulation examples, and results closely match theoretical predictions and experimental data.

关键词： Boundary layers

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Slip Detection in a Novel Tactile Force Sensor 16th

Slip Detection in a Novel Tactile Force Sensor

引用

16th International Symposium on robotics Research (ISSR)

作者： Fernandez, Raul Payo, Ismael Vazquez, Andres S. Becedas, Jonathan Univ Castilla La Mancha Dept Elect Elect & Control Engn Ciudad Real Spain

ISBN: (纸本)9783319288727;9783319288703

Tactile sensing improves the manipulation and grasping of unknown objects. It contributes to increase the knowledge of the environment and provides useful information to improve grasping control. The sensors traditionally used for tactile sensing emphasize in grasping object shape and force detection. However slip detection is also crucial to successfully manipulate an object. Several approaches have appeared to detect slipping, the majority being a combination of complex sensors with complex algorithms. In this paper, we present a simple, lowcost and durable tactile force sensor and its use to slip detection via a simple but effective method based on micro-vibration detection. We also analyze the results of using the same principle to detect slip in other force sensors based on flexible parts. In particular, we also show the slip detection with: a flexible finger (designed by the authors) acting as a force sensor, the finger torque sensor of a commercial robotic hand (Barrett Hand), and a commercial 6-axis force sensor mounted in the wrist of a robot.

关键词： Flexible structures

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Concentric Tube Robots: The State of the Art and Future Directions 16th

Concentric Tube Robots: The State of the Art and Future Dire...

引用

16th International Symposium on robotics Research (ISSR)

作者： Gilbert, Hunter B. Rucker, D. Caleb Webster, Robert J., III Vanderbilt Univ 221 Kirkland Hall Nashville TN 37235 USA Univ Tennessee Knoxville TN USA

ISBN: (纸本)9783319288727;9783319288703

Seven years ago, concentric tube robots were essentially unknown in robotics, yet today one would be hard pressed to find a major medical robotics forum that does not include several presentations on them. Indeed, we now stand at a noteworthy moment in the history of these robots. The recent maturation of foundational models has created new opportunities for research in control, sensing, planning, design, and applications, which are attracting an increasing number of robotics researchers with diverse interests. The purpose of this review is to facilitate the continued growth of the subfield by describing the state of the art in concentric tube robot research. We begin with current and proposed applications for these robots and then trace their origins (some aspects of which date back to 1985), before proceeding to describe the state of the art in terms of modeling, control, sensing, and design. The paper concludes with forward-looking perspectives, noting that concentric tube robots provide rich opportunities for further research, yet simultaneously appear poised to become viable commercial devices in the near future.

关键词： Machine design

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