this paper presents a navigation method to control autonomous mobile robots : the escapes lanes, applied to RAOUL mobile system. First, the formalism is introduced to model an automated system, and then is applied to ...
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ISBN:
(纸本)9789728865832
this paper presents a navigation method to control autonomous mobile robots : the escapes lanes, applied to RAOUL mobile system. First, the formalism is introduced to model an automated system, and then is applied to a mobile robot. then, this formalism is used to describe the escape lanes navigation method, and is applied to our RAOUL mobile robot. Finally, implementation results simulations validate the concept.
Estimating a robot's reachable workspace is a fundamental problem in robotics. For simple kinematic chains within an empty environment this computation can be relatively straightforward. For mobile kinematic struc...
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ISBN:
(纸本)9789896740009
Estimating a robot's reachable workspace is a fundamental problem in robotics. For simple kinematic chains within an empty environment this computation can be relatively straightforward. For mobile kinematic structures and cluttered environments, the problem becomes more challenging. An efficient probabilistic method for workspace estimation is developed by applying a hierarchical strategy and developing extensions to a probabilistic motion planner. Rather than treating each of the degrees of freedom (DOFs) 'equally', a hierarchical representation is used to maximize the volume of the robot's workspace that is identified as reachable for each probe of the environment. Experiments with a simulated mobile manipulator demonstrate that the hierarchical approach is an effective alternative to the use of an estimation process based on the use of a traditional probabilistic planner.
In this paper a set of robot coordination approaches is presented. Described method Os are based on formation function concept. Accuracy of different approaches is compared using formation function time graphs. Virtua...
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ISBN:
(纸本)9789728865832
In this paper a set of robot coordination approaches is presented. Described method Os are based on formation function concept. Accuracy of different approaches is compared using formation function time graphs. Virtual structure method is analyzed, then virtual structure expanded with behavioral formation feedback is presented. Finally leader-follower scheme is described. Presented methods are illustrated by simulation results. Differentially driven nonholonomic mobile robots were used in simulations.
Aiming at the traditional prediction methods of related parameters that affect water quality, they usually only consider the temporal characteristics of the related parameters of water quality and ignore the problem t...
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In the paper a novel approach to representation of a history in a mobile robot navigation is presented. the main assumptions and key definitions of the proposed approach are discussed in this paper. An application of ...
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ISBN:
(纸本)9789728865832
In the paper a novel approach to representation of a history in a mobile robot navigation is presented. the main assumptions and key definitions of the proposed approach are discussed in this paper. An application of the method to detection a dead end situations that may occur during the work of reactive navigation systems is presented. the potential field method is used to create an algorithm that gets the robot out of the dead-lock. Simulations that show the effectiveness of the proposed method are also presented.
this article studies the use of task partitioning as a way to reduce interference in a spatially constrained harvesting task. Interference is one of the key problems in large cooperating groups. We present a simple me...
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ISBN:
(纸本)9789896740009
this article studies the use of task partitioning as a way to reduce interference in a spatially constrained harvesting task. Interference is one of the key problems in large cooperating groups. We present a simple method to allocate individuals of a robotic swarm to a partitioned task, and show that task partitioning can increase system performance by reducing sources of interference. the method is experimentally studied, both in an environment with a narrow area and an environment without this constraint. the results are analyzed and compared to the case in which task partitioning is not employed.
Single-sided air-coupled ultrasonic inspection has some beneficial properties compared to water-coupled ultrasonic inspection or double-sided ultrasonic testing. the absence of the need for water leads to easier proce...
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ISBN:
(纸本)9789897583803
Single-sided air-coupled ultrasonic inspection has some beneficial properties compared to water-coupled ultrasonic inspection or double-sided ultrasonic testing. the absence of the need for water leads to easier process handling on the one hand e.g. when manufacturing aircraft components. On the other hand, because the process is single-sided, reachability is a minor problem compared to double-sided testing and end-effectors and fixtures can be designed in a less complex and more compact way. However, the nature of lamb waves requires that the geometrical relation of the transmitter and the receiver varies during the inspection process. In this paper, a prototype of an adaptive end-effector is introduced that was developed to implement this requirement and results of first evaluation tests are presented.
this paper describes a mobile robotic platform and a software framework for applications and development of robotic experiments integrating teleoperation. and autonomy. An application using supervised learning is deve...
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ISBN:
(纸本)9789728865832
this paper describes a mobile robotic platform and a software framework for applications and development of robotic experiments integrating teleoperation. and autonomy. An application using supervised learning is developed in which the agent is trained by teleoperation. this allows the agent to learn the perception to action mapping from the teleoperator in real time, such that the task can be repeated in an autonomous way, with some generalization. A radial basis function network (RBF) trained by a sequential learning algorithm is used to learn the mapping. Experimental results are shown.
the ANSER project (Airport Night Surveillance Expert Robot) is described, exploiting a mobile robot for autonomous surveillance in civilian airports and similar wide outdoor areas. the paper focuses on the localizatio...
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ISBN:
(纸本)9789728865832
the ANSER project (Airport Night Surveillance Expert Robot) is described, exploiting a mobile robot for autonomous surveillance in civilian airports and similar wide outdoor areas. the paper focuses on the localization subsystem of the patrolling robot, composed of a non-differential GPS unit and a laser rangefinder for map-based localization (inertial sensors are absent). Moreover, it shows that an augmented state vector approach and an Extended Kalman filter can be successfully employed to estimate the colored components in GPS noise, thus getting closer to the conditions for the EKF to be applicable.
"Growing Functional Modules" constitutes a prospective paradigm founded on the epigenetic approach whose proposal consists in designing a distributed architecture, based on interconnected modules, that allow...
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ISBN:
(纸本)9789728865825
"Growing Functional Modules" constitutes a prospective paradigm founded on the epigenetic approach whose proposal consists in designing a distributed architecture, based on interconnected modules, that allows the automatic generation of an autonomous and adaptive controller (artificial brain). the present paper introduces a new module designed to trigger causal inference;its functionality is discussed and its behavior is illustrated applying the module to solve the problem of a dynamic maze.
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