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共 2685 条记录，以下是2361-2370 订阅

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Robot behavior adaptation for formation maintenance

Robot behavior adaptation for formation maintenance

引用

3rd international conference on informatics in control, automation and robotics

作者： Lopez-Sanchez, Maite Univ Barcelona MAiA Dep WAI Volume Visualizat & Artificial Intelligence R Barcelona Spain

ISBN: (纸本)9728865600

The autonomous robot formation maintenance problem can be approached by considering local information only. This approach is more realistic than using global information, but presents a troop deformation drawback. This paper performs a step forward in local information usage for formation maintenance by analyzing a parameterization of different basic behaviors. Formation maintenance emerges from the combination of these simple behaviors, and its overall accuracy is empirically optimized by tuning behavior parameters. In particular, we study and characterize three different formations: queue or column (as for ants), inverted V or wedge (as for birds or planes) and rectangle (for manipulus antique roman troop formations). This paper describes simulated robots that incorporate a unique set of basic behaviors from which formation maintenance emerges. These simple behaviors provide formation robustness and are parameterized in order to minimize deformation while following a trajectory.

关键词： autonomous robotics behavior-based robots simulation

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Distributed control system of an experimental robotic cell with 3D vision

Distributed control system of an experimental robotic cell w...

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3rd international conference on informatics in control, automation and robotics

作者： Vazquez, Andres S. Adan, Antonio Torres, Roberto Cerrada, Carlos UCLM Escuela Super Informat Paseo Univ 4 Ciudad Real Spain UNED Escuela Tecn Super Ingn Ind Madrid Spain

ISBN: (纸本)9728865600

We present a distributed control architecture for the integration of an experimental robotic cell with 3D visual servoing. This architecture allows us to control a 6 DOF robot in hard Real-Time and the global experimental system in soft Real-Time. We have developed distributed applications, based on this architecture, for the robot control (whose characteristics permit us to teleoperate the robot), the 3D data acquisition and for an advanced simulation and visualization. These applications, together with the algorithms developed by our computer vision research group, allow a full intelligent robotic manipulation in complex scenes to be made. This can be useful in manufacturing environments where an automated piece manipulation is necessary.

关键词： distributed robot control vision 3D industrial robots manufacturing environments

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Multiprocessor robot controller -: An experimental robot controller for force-torque control tasks

Multiprocessor robot controller -: An experimental robot con...

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3rd international conference on informatics in control, automation and robotics

作者： Olah, Istvan Tevesz, Gabor Budapest Univ Technol & Econ Dept Automat & Appl Informat Goldmann Gyorgy Ter 3-4em Budapest Hungary

ISBN: (纸本)9728865600

There is ongoing research and development in the field of hybrid position and force control of the assembly robots at the Department of automation and Applied informatics and the Department of control Engineering and Information Technology, Budapest University of Technology and Economics. As result, an Experimental Robot controller was built for the special needs of the project. Both the hardware and the software system of the controller are under continuous development. The most recent achievement is, a built in six-component force-torque sensor. The development of the software system is currently dealing with the extension of the programming environment with force-torque control possibilities. There are numerous industrial applications for force and torque control (i.e. screw driver, welder), but a flexible equipment can provide much more than just the possibility of solving a single task. This paper presents an overview of the robot controller hardware, separately detailing the force-torque sensor interface. The second part of this paper overviews the software system of the controller and the possibilities of its extensions for force control tasks.

关键词： robot controller multiprocessor systems PUMA 560 QNX digital signal processor hybrid position and force control

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Studies on visual perception for perceptual robotics

Studies on visual perception for perceptual robotics

引用

3rd international conference on informatics in control, automation and robotics, ICINCO 2006

作者： Ciftcioglu, Özer Bittermann, Michael S. Sariyildiz, I. Sevil Department of Building Technology Delft University of Technology Berlageweg 1 2628 CR Delft Netherlands

ISBN: (纸本)9728865600

Studies on human visual perception measurement for perceptual robotics are described. The visual perception is mathematically modelled as a probabilistic process obtaining and interpreting visual data from an environment. The measurement involves visual openness perception in virtual reality, which has direct implications for navigation issues of actual autonomous robotics. The perception is quantified by means of a mapping function which converts a distance to an elemental perception estimate. The measurement is carried out with the averaging of the elemental perceptions in real time. This is accomplished by means of exponential averaging. The mapping function parameters are optimized uniquely by means of genetic algorithm approach where the data set for model development consists of a number of perception data samples. These are obtained from individuals who are confronted with a number of scenes and asked for their perceptual openness statements. Based on this data, a perception model is developed for a virtual robot where the simulated vision interaction of the robot with the environment is converted to visual openness estimation through the model output. The model outcome is essential visual information for the navigation of an autonomous perceptual robot.

关键词： Genetic algorithms

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Sufficient condition of max-plus ellipsoidal invariant set and computation of feedback control of discrete event systems

Sufficient condition of max-plus ellipsoidal invariant set a...

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3rd international conference on informatics in control, automation and robotics

作者： Ahmane, Mourad Truffet, Laurent CNRS IRCCyN UMR 6597 Ecole Cent Nantes F-44321 Nantes 3 France

ISBN: (纸本)9728865619

Haar's Lemma (1918) provides the algebraic characterization of the inclusion of polyhedral sets. This Lemma has been involved many times in automatic control of linear dynamical systems when the constraint domains (state and/or control) are polyhedrons. More recently, this Lemma has been used to characterize stochastic comparison w.r.t linear orderings of Markov chains with different state spaces. Stochastic comparison is involved in the simplification of complex stochastic systems in order to control the approximation error made. In this paper we study the positive invariance of a max-plus ellipsoid by a max-plus linear dynamical system. We remark that to derive sufficient condition for the positive invariance. As an application we propose a method to compute a static state feedback control.

关键词： max-plus algebra geometric approach set invariance residuation

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Combining reinforcement learning and genetic algorithms to learn behaviours in mobile robotics

Combining reinforcement learning and genetic algorithms to l...

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3rd international conference on informatics in control, automation and robotics

作者： Iglesias, R. Rodriguez, M. Regueiro, C. V. Correa, J. Barro, S. Univ Santiago de Compostela Santiago De Compostela Spain Univ A Coruna Dept Elect & Syst Coruna Spain

ISBN: (纸本)9728865600

Reinforcement learning is an extremely useful paradigm which is able to solve problems in those domains where it is difficult to get a set of examples of how the system should work. Nevertheless, there are important problems associated with this paradigm which make the learning process more unstable and its convergence slower. In our case, to overcome one of the main problems (exploration versus exploitation trade off), we propose a combination of reinforcement learning with genetic algorithms, where both paradigms influence each other in such a way that the drawbacks of each paradigm are balanced with the benefits of the other. The application of our proposal to solve a problem in mobile robotics shows its usefulness and high performance, as it is able to find a stable solution in a short period of time. The usefulness of our approach is highlighted through the application of the system learnt through our proposal to control the real robot.

关键词： robot control mobile robotics autonomous agents reinforcement learning genetic algorithms

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Robust multi-robot cooperation through dynamic task allocation and precaution routines

Robust multi-robot cooperation through dynamic task allocati...

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3rd international conference on informatics in control, automation and robotics

作者： Sariel, Sanem Balch, Tucker Erdogan, Nadia Istanbul Tech Univ Dept Comp Engn TR-80626 Istanbul Turkey Georgia Inst Technol Coll Comp Atlanta GA 30332 USA

ISBN: (纸本)9728865600

In this paper, we present the design and implementation of a multi-robot cooperation framework to collectively execute inter-dependent tasks of an overall complex mission requiring diverse capabilities. Given a heterogeneous team of robots and task dependencies, the proposed framework provides a distributed mechanism for assigning tasks to robots in an order that efficiently completes the mission. The approach is robust to unreliable communication and robot failures. It is a distributed auction-based approach, and therefore scalable. In order to obtain optimal allocations, effective bid evaluations are needed. Additionally to maintain optimality in noisy environments, dynamic re-allocations of tasks are needed as implemented in dynamic task selection and coalition maintenance scheme that we propose. Real-time contingencies are handled by recovery routines, called Plan B precautions in our framework. Here, in this paper, we present performance results of our framework for robustness in simulations that include variable message loss rates and robot failures. Experiments illustrate robustness of our approach against several contingencies.

关键词： distributed AI robotics multi-agent systems

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Intelligent vehicle systems - Applications and new trends

Intelligent vehicle systems - Applications and new trends

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3rd international conference on informatics in control, automation and robotics

作者： Gusikhin, Oleg Filev, Dimitar Rychtyckyj, Nestor Ford Res & Adv Engn 2101 Village Rd Dearborn MI 48121 USA Ford Motor Co Global Mfg Engn Syst Dearborn MI 48121 USA

ISBN: (纸本)9728865600

A person usually does not consider the car sitting in their driveway to be on the leading edge of new technology. However, for most people, the personal automobile has now become their initial exposure to new intelligent computational technologies such as fuzzy logic, neural networks, adaptive computing, voice recognition and others. In this paper we will discuss the various intelligent vehicle systems that are now being deployed into motor vehicles. These intelligent system applications impact every facet of the driver experience and improve both vehicle safety and performance. We will also describe recent developments in autonomous vehicle design and demonstrate that this type of technology is not that far away from deployment. Other applications of intelligent system design apply to adapting the vehicle to the driver's preferences and helping the driver stay aware. The automobile industry is very competitive and there are many other new advances in vehicle technology that cannot be discussed yet. However, this paper provides an introduction into those technologies that have already been announced or deployed and shows how the automobile has evolved from a basic transportation device into an advanced vehicle with a host of on-board computational technologies.

关键词： computational intelligence vehicle systems

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Distributed emergency management with spatial scenarios

Distributed emergency management with spatial scenarios

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3rd international conference on informatics in control, automation and robotics

作者： Sapaty, Peter Finkelstein, Robert Filipe, Joaquim Natl Acad Sci Inst Math Machines & Syst Glushkova Ave 42 UA-03187 Kiev Ukraine Robot Technol Inc 11424 Palatine Dr Potomac MA 20854 USA Escola Super Tecnol Setubal Dept Sistemas & Informat P-2910761 Setubal Portugal

ISBN: (纸本)9728865597

A radically new approach will be described for the fully distributed and dynamic management of advanced crisis relief operations and missions. It is based on the installation of a universal "social" module in many existing and massively used data processing and control devices, including (but not limited to) internet hosts, laptops, mobile robots and mobile phones. These modules can collectively interpret a special scenario language while exchanging higher-level program code with accompanying data and control in parallel. This can dynamically integrate any scattered post-disaster human and technical resources into an operable distributed system which, from one side, is effectively supervised externally, and from the other side, is capable of solving complex self-analysis, coordination, survivability, relief, and reconstruction problems autonomously.

关键词： critical infrastructures key resources emergency management emergent societies crisis relief information technologies distributed control WAVE-WP model wearable electronic devices mobile robotics spatial scenarios

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Depth gradient image based on silhouette -: A solution for reconstruction of scenes in 3D environments

Depth gradient image based on silhouette -: A solution for r...

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3rd international conference on informatics in control, automation and robotics

作者： Merchan, Pilar Adan, Antonio Salamanca, Santiago Univ Extremadura Escuela Engn Ind Avda Elvas S-N E-06071 Badajoz Spain Univ Castilla La Mancha Escuela Super Informat Ciudad Real 13071 Spain Univ Extremadura Escuela Ingn Ind Badajoz 06071 Spain

ISBN: (纸本)9728865600

Greatest difficulties arise in 3D environments when we have to deal with a scene with dissimilar objects without pose restrictions and where contacts and occlusions are allowed. This work tackles the problem of correspondence and alignment of surfaces in such a kind of scenes. The method presented in this paper is based on a new representation model called Depth Gradient Image Based on Silhouette (DGI-BS) which synthesizes object surface information (through depth) and object shape information (through contour). Recognition and pose problems are efficiently solved for all objects of the scene by using a simple matching algorithm in the DGI-BS space. As a result of this the scene can be virtually reconstructed. This work is part of a robot intelligent manipulation project. The method has been successfully tested in real experimentation environments using range sensors.

关键词： 3D computer vision reconstruction 3D object recognition range image processing

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