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

共 918 条记录，以下是81-90 订阅

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A Scripted Printable Quadrotor: Rapid Design and Fabrication of a Folded MAV 16th

A Scripted Printable Quadrotor: Rapid Design and Fabrication...

引用

16th International Symposium on robotics Research (ISSR)

作者： Mehta, Ankur M. Rus, Daniela Mohta, Kartik Mulgaonkar, Yash Piccoli, Matthew Kumar, Vijay MIT Cambridge MA 02139 USA Univ Penn Philadelphia PA 19104 USA

ISBN: (纸本)9783319288727;9783319288703

Robotic systems hold great promise to assist with household, educational, and research tasks, but the difficulties of designing and building such robots often are an inhibitive barrier preventing their development. This paper presents a framework in which simple robots can be easily designed and then rapidly fabricated and tested, paving the way for greater proliferation of robot designs. The Python package presented in this work allows for the scripted generation of mechanical elements, using the principles of hierarchical structure and modular reuse to simplify the design process. These structures are then manufactured using an origami-inspired method in which precision cut sheets of plastic film are folded to achieve desired geometries. Using these processes, lightweight, low cost, rapidly built quadrotors were designed and fabricated. Flight tests compared the resulting robots against similar micro air vehicles (MAVs) generated using other processes. Despite lower tolerance and precision, robots generated using the process presented in this work took significantly less time and cost to design and build, and yielded lighter, lower power MAVs.

关键词： Fabrication

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Automatic Differentiation on Differentiable Manifolds as a Tool for robotics 16th

Automatic Differentiation on Differentiable Manifolds as a T...

引用

16th International Symposium on robotics Research (ISSR)

作者： Sommer, Hannes Pradalier, Cedric Furgale, Paul GeorgiaTech Lorraine Metz France ETH Zurich Switzerland

ISBN: (纸本)9783319288727;9783319288703

Automatic differentiation (AD) is a useful tool for computing Jacobians of functions needed in estimation and control algorithms. However, for many interesting problems in robotics, state variables live on a differentiable manifold. The most commonexample are robot orientations that are elements of the Lie group SO(3). This causes problems for AD algorithms that only consider differentiation at the scalar level. Jacobians produced by scalar AD are correct, but scalar-focused methods are unable to apply simplifications based on the structure of the specific manifold. In this paper we extend the theory of AD to encompass handling of differentiable manifolds and provide a C++ library that exploits strong typing and expression templates for fast, easy-to-use Jacobian evaluation. This method has a number of benefits over scalar AD. First, it allows the exploitation of algebraic simplifications that make Jacobian evaluations more efficient than their scalar counterparts. Second, strong typing reduces the likelihood of programming errors arising from misinterpretation that are possible when using simple arrays of scalars. To the best of our knowledge, this is the first work to consider the structure of differentiable manifolds directly in AD.

关键词： robotics

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The Hybrid Information and Plan Consensus Algorithm with Imperfect Situational Awareness 1

引用

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

作者： Johnson, Luke Choi, Han-Lim How, Jonathan P. MIT Dept Aeronaut & Astronaut Cambridge MA 02139 USA Korea Adv Inst Sci & Technol Div Aerosp Engn Yuseon Daejeon South Korea

ISBN: (数字)9784431558798

ISBN: (纸本)9784431558798;9784431558774

This paper presents an extension to the Hybrid Information and Plan Consensus Algorithm (HIPC) that accounts for imperfect situational awareness (SA). This algorithm uses implicit coordination to plan for a subset of the team on-board each agent, then uses plan consensus to satisfy assignment constraints. By combining the ideas of implicit coordination and local plan consensus, the algorithm empirically reduces the convergence time for distributed task allocation problems. The contribution of this work is that it extends previous results to account for the likely possibility of imperfect situational awareness across the team. This is accomplished by tracking when predictions are incorrect and removing offending predictions if they are hindering algorithmic convergence. Empirical results are provided to demonstrate that this new approach allows the use of inconsistent situational awareness to improve convergence speed.

关键词： Task allocation Distributed planning Multi-agent systems

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Energy-Aware Terrain Analysis for Mobile Robot Exploration 10th

Energy-Aware Terrain Analysis for Mobile Robot Exploration

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

作者： Otsu, Kyohei Kubota, Takashi Univ Tokyo Dept Elect Engn & Informat Syst Bunkyo Ku 7-3-1 Hongo Tokyo Japan Japan Aerosp Explorat Agcy Inst Space & Astronaut Sci Chuo Ku 3-1-1 Yoshinodai Sagamihara Kanagawa 2298510 Japan

ISBN: (纸本)9783319277028;9783319277004

This paper presents an approach to predict energy consumption in mobility systems for wheeled ground robots. The energy autonomy is a critical problem for various battery-powered systems. Specifically, the consumption prediction in mobility systems, which is difficult to obtain due to its complex interactivity, can be used to improve energy efficiency. To address this problem, a self-supervised approach is presented which considers terrain geometry and soil types. Especially, this paper analyzes soil types which affect energy usage models, then proposes a prediction scheme based on terrain type recognition and simple consumption modeling. The developed vibration-based terrain classifier is validated with a field test in diverse volcanic terrain.

关键词： Energy utilization

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MarSim, a Simulation of the MarsuBots Fleet Using NetLogo 1

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

作者： Martinez, David Leal Halme, Aarne Aalto Univ Sch Elect Engn Dept Automat & Syst Technol Otaniementie 17 Espoo Finland

ISBN: (数字)9784431558798

ISBN: (纸本)9784431558798;9784431558774

The Marsubots fleet is an heterogeneous robot fleet consisting of Marsus and Motherbots, the purpose of this fleet is to explore previously unexplored areas as well as partially explored areas or areas that have suffered alterations. In order to be able to explore large areas such as large buildings and open spaces, the robots need to recharge their batteries from the Motherbot's recharging bay. This paper focuses on describing the simulation environment MarSim that has been created using NetLogo to model the fleet in order to be able to use tools like Genetic Algorithms to refine the parameters that have been identified as key parameters for the robots to complete the task at hand successfully, specially after a large amount of recharge cycles.

关键词： Distributed robotics MarsuBots NetLogo Power management Recharging

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Exploitation of Environmental Constraints in Human and Robotic Grasping 16th

Exploitation of Environmental Constraints in Human and Robot...

引用

16th International Symposium on robotics Research (ISSR)

作者： Deimel, Raphael Eppner, Clemens Alvarez-Ruiz, Jose Maertens, Marianne Brock, Oliver Tech Univ Berlin Robot & Biol Lab Berlin Germany Tech Univ Berlin Modelling Cognit Proc Grp Berlin Germany

ISBN: (纸本)9783319288727;9783319288703

We investigate the premise that robust grasping performance is enabled by exploiting constraints present in the environment. These constraints, leveraged through motion in contact, counteract uncertainty in state variables relevant to grasp success. Given this premise, grasping becomes a process of successive exploitation of environmental constraints, until a successful grasp has been established. We present support for this view by analyzing human grasp behavior and by showing robust robotic grasping based on constraint-exploiting grasp strategies. Furthermore, we show that it is possible to design robotic hands with inherent capabilities for the exploitation of environmental constraints.

关键词： End effectors

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Optimal Control of Nonlinear Systems with Temporal Logic Specifications 16th

Optimal Control of Nonlinear Systems with Temporal Logic Spe...

引用

16th International Symposium on robotics Research (ISSR)

作者： Wolff, Eric M. Murray, Richard M. CALTECH Pasadena CA 91125 USA

ISBN: (纸本)9783319288727;9783319288703

We present a mathematical programming-based method for optimal control of nonlinear systems subject to temporal logic task specifications. We specify tasks using a fragment of linear temporal logic (LTL) that allows both finite- and infinite-horizon properties to be specified, including tasks such as surveillance, periodic motion, repeated assembly, and environmental monitoring. Our method directly encodes an LTL formula as mixed-integer linear constraints on the system variables, avoiding the computationally expensive process of creating a finite abstraction. Our approach is efficient;for common tasks our formulation uses significantly fewer binary variables than related approaches and gives the tightest possible convex relaxation. We apply our method on piecewise affine systems and certain classes of differentially flat systems. In numerical experiments, we solve temporal logicmotion planning tasks for high-dimensional (10+ continuous state) systems.

关键词： Temporal logic

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A Graph-Based Formation Algorithm for Odor Plume Tracing 1

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

作者： Soares, Jorge M. Pedro Aguiar, A. Pascoal, Antonio M. Martinoli, Alcherio Ecole Polytech Fed Lausanne Sch Architecture Civil & Environm Engn Distributed Intelligent Syst & Algorithms Lab Lausanne Switzerland Univ Lisbon Inst Syst & Robot Inst Super Tecn P-1699 Lisbon Portugal Univ Porto Fac Engn Dept Elect & Comp Engn Rua Campo Alegre 823 P-4100 Oporto Portugal Natl Inst Oceanog Panaji Goa India

ISBN: (数字)9784431558798

ISBN: (纸本)9784431558798;9784431558774

Odor plume tracing is a challenging robotics application, made difficult by the combination of the patchy characteristics of odor distribution and the slow response of the available sensors. This work proposes a graph-based formation control algorithm to coordinate a group of small robots equipped with odor sensors, with the goal of tracing an odor plume to its source. This approach makes it possible to organize the robots in arbitrary and evolving formation shapes with the aim of improving tracing performance. The algorithm was evaluated in a high-fidelity submicroscopic simulator, using different formations and achieving quick convergence and negligible distance overhead in laminar wind flows.

关键词： Odor source localization Plume tracing Formation control Robotic olfaction

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SPENCER: A Socially Aware Service Robot for Passenger Guidance and Help in Busy Airports 10th

SPENCER: A Socially Aware Service Robot for Passenger Guidan...

引用

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

作者： Triebel, Rudolph Arras, Kai Alami, Rachid Beyer, Lucas Breuers, Stefan Chatila, Raja Chetouani, Mohamed Cremers, Daniel Evers, Vanessa Fiore, Michelangelo Hung, Hayley Ramirez, Omar A. Islas Joosse, Michiel Khambhaita, Harmish Kucner, Tomasz Leibe, Bastian Lilienthal, Achim J. Linder, Timm Lohse, Manja Magnusson, Martin Okal, Billy Palmieri, Luigi Rafi, Umer van Rooij, Marieke Zhang, Lu TU Dept Comp Sci Munich Germany Univ Freiburg Social Robot Lab Hugstetter Str 55 D-79106 Freiburg Germany CNRS LAAS Lab Anal & Architecture Syst F-31077 Toulouse France Rhein Westfal TH Aachen D-52062 Aachen Germany CNRS ISIR Paris France Univ Twente POB 217 NL-7500 AE Enschede Netherlands Delft Univ Technol Delft Netherlands Univ Orebro SE-70182 Orebro Sweden Univ Amsterdam Amsterdam Netherlands

ISBN: (纸本)9783319277028;9783319277004

We present an ample description of a socially compliant mobile robotic platform, which is developed in the EU-funded project SPENCER. The purpose of this robot is to assist, inform and guide passengers in large and busy airports. One particular aim is to bring travellers of connecting flights conveniently and efficiently from their arrival gate to the passport control. The uniqueness of the project stems from the strong demand of service robots for this application with a large potential impact for the aviation industry on one side, and on the other side from the scientific advancements in social robotics, brought forward and achieved in SPENCER. The main contributions of SPENCER are novel methods to perceive, learn, and model human social behavior and to use this knowledge to plan appropriate actions in real-time for mobile platforms. In this paper, we describe how the project advances the fields of detection and tracking of individuals and groups, recognition of human social relations and activities, normative human behavior learning, socially-aware task and motion planning, learning socially annotated maps, and conducting empirical experiments to assess socio-psychological effects of normative robot behaviors.

关键词： Motion planning

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Safe Motion Planning for Imprecise Robotic Manipulators by Minimizing Probability of Collision 16th

Safe Motion Planning for Imprecise Robotic Manipulators by M...

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16th International Symposium on robotics Research (ISSR)

作者： Sun, Wen Torres, Luis G. van den Berg, Jur Alterovitz, Ron Univ North Carolina Chapel Hill Chapel Hill NC 27514 USA Univ Utah Salt Lake City UT USA

ISBN: (纸本)9783319288727;9783319288703

Robotic manipulators designed for home assistance and new surgical procedures often have significant uncertainty in their actuation due to compliance requirements, cost constraints, and size limits. We introduce a new integrated motion planning and control algorithm for robotic manipulators that makes safety a priority by explicitly considering the probability of unwanted collisions. We first present a fast method for estimating the probability of collision of a motion plan for a robotic manipulator under the assumptions of Gaussian motion and sensing uncertainty. Our approach quickly computes distances to obstacles in the workspace and appropriately transforms this information into the configuration space using a Newton method to estimate the most relevant collision points in configuration space. We then present a sampling-based motion planner based on executing multiple independent rapidly exploring random trees that returns a plan that, under reasonable assumptions, asymptotically converges to a plan that minimizes the estimated collision probability. We demonstrate the speed and safety of our plans in simulation for (1) a 3-D manipulator with 6 DOF, and (2) a concentric tube robot, a tentacle-like robot designed for surgical applications.

关键词： Robot programming

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