the intelligent Ground Vehicle Competition (IGVC) is one of four, unmanned systems, student competitions that were founded by the Association for Unmanned Vehicle Systems International (AUVSI). the IGVC is a multidisc...
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ISBN:
(纸本)9780819484154
the intelligent Ground Vehicle Competition (IGVC) is one of four, unmanned systems, student competitions that were founded by the Association for Unmanned Vehicle Systems International (AUVSI). the IGVC is a multidisciplinary exercise in product realization that challenges college engineering student teams to integrate advanced control theory, machine vision, vehicular electronics and mobile platform fundamentals to design and build an unmanned system. Teams from around the world focus on developing a suite of dual-use technologies to equip ground vehicles of the future withintelligent driving capabilities. Over the past 18 years, the competition has challenged undergraduate, graduate and Ph.D. students with real world applications in intelligent transportation systems, the military and manufacturing automation. To date, teams from over 75 universities and colleges have participated. this paper describes some of the applications of the technologies required by this competition and discusses the educational benefits. the primary goal of the IGVC is to advance engineering education in intelligent vehicles and related technologies. the employment and professional networking opportunities created for students and industrial sponsors through a series of technical events over the four-day competition are highlighted. Finally, an assessment of the competition based on participation is presented.
intelligent agent technology has evolved rapidly over the past few years along withthe growing number of agent systems in various domains. Although a substantial amount of work in agent-oriented software engineering ...
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intelligent agent technology has evolved rapidly over the past few years along withthe growing number of agent systems in various domains. Although a substantial amount of work in agent-oriented software engineering has provided methodologies for analysing, designing and implementing agent-based systems, recent studies have highlighted that there has been very little work on maintenance and evolution of agent-based systems. A critical issue in software maintenance and evolution is change impact analysis: determining the potential consequences of a proposed change. there has been a proliferation of techniques proposed to support change impact analysis of procedural or object-oriented systems, but to the best of our knowledge, no such an effort has been made for agent-based software. In this paper, we fill this gap by proposing a framework to support change impact analysis for agent systems. At the core of our framework is the taxonomy of atomic changes which can precisely capture semantic differences between versions of an agent system. We also present a change impact model in the form of an intra-agent dependency graph that represents various dependencies within an agent system. An algorithm to compute the set of entities impacted by a change is also presented. the proposed techniques have been implemented in AgentCIA, a change impact analysis plugin for Jason, one of the most well-known agent programming platforms.
the intelligent Ground Vehicle Competition (IGVC) is one of four unmanned systems student competitions that were founded by the Association for Unmanned Vehicle Systems International (AUVSI). the IGVC is a multidiscip...
详细信息
ISBN:
(纸本)9780819479327
the intelligent Ground Vehicle Competition (IGVC) is one of four unmanned systems student competitions that were founded by the Association for Unmanned Vehicle Systems International (AUVSI). the IGVC is a multidisciplinary exercise in product realization that challenges college engineering student teams to integrate advanced control theory, machine vision, vehicular electronics and mobile platform fundamentals to design and build an unmanned ground vehicle. Teams from around the world focus on developing a suite of dual-use technologies to equip their system of the future withintelligent driving capabilities. Over the past 17 years, the competition has challenged undergraduate, graduate and Ph.D. students with real world applications in intelligent transportation systems, the military and manufacturing automation. To date, teams from over 70 universities and colleges have participated. this paper describes some of the applications of the technologies required by this competition and discusses the educational benefits. the primary goal of the IGVC is to advance engineering education in intelligent vehicles and related technologies. the employment and professional networking opportunities created for students and industrial sponsors through a series of technical events over the four-day competition are highlighted. Finally, an assessment of the competition based on participation is presented.
Spline representations have been successfully used with a genetic algorithm to determine a disparity map for stereo image pairs. this paper describes work to modify the genetic spline algorithm to use a version of the...
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ISBN:
(纸本)9780819479327
Spline representations have been successfully used with a genetic algorithm to determine a disparity map for stereo image pairs. this paper describes work to modify the genetic spline algorithm to use a version of the genetic algorithm with small populations and few generations, previously referred to as "Tiny GAs", to allow algorithm implementations to achieve real-time performance. the algorithm was also targeted at unrectified stereo image pairs to reduce preprocessing making it more suitable for real-time performance. To ensure disparity map quality is preserved, the two dimensional nature of images is maintained to leverage persistent information instead of representing the images as 1-D signals as suggested in the orignal genetic spline algorithm. Experimental results are given of this modified algorithm using unrectified images.
this paper proposes a contribution for obstacles detection and tracking in the context of car-driving assistance. On the basis of the uv-disparity(9) designed for in-vehicle stereovision, we propose a robust procedure...
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ISBN:
(纸本)9780819479327
this paper proposes a contribution for obstacles detection and tracking in the context of car-driving assistance. On the basis of the uv-disparity(9) designed for in-vehicle stereovision, we propose a robust procedure to detect the objects located on the road plane. this detection is used as an initialization stage for a real-time template matching procedure based on the minimizing of a weighted cost function. An appropriate update of the weights, based upon the quality of the previous matching and depth information, allows to track efficiently non-rigid objects in front of a clutter background. Sequences involving pedestrians are used to demonstrate the efficiency of our procedure.
A predictive object detection algorithm was developed to investigate the practicality of using advanced filtering on stereo vision object detection algorithms such as the X-H Map. Obstacle detection with stereo vision...
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ISBN:
(纸本)9780819479327
A predictive object detection algorithm was developed to investigate the practicality of using advanced filtering on stereo vision object detection algorithms such as the X-H Map. Obstacle detection with stereo vision is inherently noisy and non linear. this paper describes the X-H Map algorithm and details a method of improving the accuracy withthe Unscented Kalman Filter (UKF). the significance of this work is that it details a method of stereo vision object detection and concludes that the UKF is a relevant method of filtering that improves the robustness of obstacle detection given noisy inputs. this method of integrating the UKF for use in stereo vision is suitable for any standard stereo vision algorithm that is based on pixel matching (stereo correspondence) from disparity maps.
A possibility to reduce the investment costs is an improved functionality of the inspection station in order to awaken investors' interest to buy. A new concept for 2-D and 3-D metric and logical quality monitorin...
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ISBN:
(纸本)9780819479327
A possibility to reduce the investment costs is an improved functionality of the inspection station in order to awaken investors' interest to buy. A new concept for 2-D and 3-D metric and logical quality monitoring with a more accurate, flexible, economical and efficient inspection station has been developed and tested at IITB. the inspection station uses short- and wide-range sensors, an intelligent grip system and a so-called "sensor magazine" which make the inspection process more flexible. the sensor magazine consists of various sensor ports with various task-specific, interchangeable sensors. Withthe sensor magazine and the improved measuring methods, the testing periods and therefore the costs in factory can be substantially decreased.
In this paper we describe a real-time 3D environment model for obstacle detection and collision avoidance with a mobile service robot. It is fully integrated in the experimental platform DESIRE. Experiments show, that...
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ISBN:
(纸本)9780819479327
In this paper we describe a real-time 3D environment model for obstacle detection and collision avoidance with a mobile service robot. It is fully integrated in the experimental platform DESIRE. Experiments show, that all components perform well and allow for reliable and robust operation of a mobile service robot with actuating capabilities in the presence of obstacles.
A single-camera stereo vision system offers a greatly simplified approach to image capture and analysis. In the original study by Lovegrove and Brame, they proposed a novel optical system that uses a single camera to ...
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ISBN:
(纸本)9780819479327
A single-camera stereo vision system offers a greatly simplified approach to image capture and analysis. In the original study by Lovegrove and Brame, they proposed a novel optical system that uses a single camera to capture two short, wide stereo images that can then be analyzed for real-time obstacle detection. In this paper, further analysis and refinement of the optical design results in two virtual cameras with perfectly parallel central axes. A new prototype camera design provides experimental verification of the analysis and also provides insight into practical construction. the experimental device showed that the virtual cameras' axes possessed a deviation from parallel of less than 12 minutes (or 0.2 degrees). the calculation of distances to objects from the two overlapping images all showed errors smaller than the pixel resolution limitation. In addition, a barrel lens correction was used in processing the image to allow parallax distance determination in the whole horizontal view of the images.
this paper addresses the design, design method, test platform, and test results of an algorithm used in autonomous navigation for intelligent vehicles. the Bluefield State College (BSC) team created this algorithm for...
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ISBN:
(纸本)9780819479327
this paper addresses the design, design method, test platform, and test results of an algorithm used in autonomous navigation for intelligent vehicles. the Bluefield State College (BSC) team created this algorithm for its 2009 intelligent Ground Vehicle Competition (IGVC) robot called Anassa V. the BSC robotics team is comprised of undergraduate computer science, engineering technology, marketing students, and one robotics faculty advisor. the team has participated in IGVC since the year 2000. A major part of the design process that the BSC team uses each year for IGVC is a fully documented "Post-IGVC Analysis." Over the nine years since 2000, the lessons the students learned from these analyses have resulted in an ever-improving, highly successful autonomous algorithm. the algorithm employed in Anassa V is a culmination of past successes and new ideas, resulting in Anassa V earning several excellent IGVC 2009 performance awards, including third place overall. the paper will discuss all aspects of the design of this autonomous robotic system, beginning withthe design process and ending with test results for both simulation and real environments.
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