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Off-road robotics - perception and navigation

Off-road robotics - perception and navigation

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international conference on informatics in control, automation and robotics (ICINCO)

作者： Karsten Berns university of Kaiserslautern Germany

the research in off-road robotics is focusing on autonomous or semi-autonomous vehicles able to navigate in rough terrain without a predefined trail. Typical examples are agriculture and forestry machines or planetary rovers. Detailed environmental perception and navigation strategies under various soil conditions have to be examined for developing an adequate control concept for such vehicles. Due to noisy, erroneous sensor measurements and rough ground conditions, it is essential, that the control architectures are characterized by a high robustness. the often used sense, plan, act strategies have the drawback that in case of unexpected states, re-planning of control sequences has to be determined. For the realization of a behavior-based control architecture for off-road vehicles, as those developed in the RRLab, it is essential to have a well-defined design strategy. In our case a bottom-up strategy is applied, which derives percepts starting from the senor system and basic control behaviors related to the active DOF of the vehicle. Typical basic control behaviors, which are mainly reactive, are safety (stop in front of obstacles), collision avoidance (drive around obstacles) or targeting (reaching a specific pose in the operational environment of the vehicle). For deliberative control the behavior, input is replaced by specific maps or scene descriptions. the often generated sequence of actions can be mapped to a specific design pattern of the iB2C network or can be used to stimulate several related behaviors in parallel.

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the rules of engagement for cyber-warfare and the Tallinn Manual: A case study 4

The rules of engagement for cyber-warfare and the Tallinn Ma...

引用

4th Annual IEEE international conference on Cyber Technology in automation, control and Intelligent Systems, IEEE-CYBER 2014

作者： Caso, Jeffrey S. Department of Science Technology and International Affairs Georgetown University School of Foreign Service 3700 O St. NW WashingtonDC20057 United States

ISBN: (纸本)9781479936687

Documents such as the Geneva (1949) and Hague Conventions (1899 and 1907) that have clearly outlined the rules of engagement for warfare find themselves challenged by the presence of a new arena: cyber. Considering the potential nature of these offenses, operations taking place in the realm of cyber cannot simply be generalized as 'cyber-warfare,' as they may also be acts of cyber-espionage, cyber-terrorism, cyber-sabaotge, etc. Cyber-attacks, such as those on Estonia in 2007, have begun to test the limits of NATO's Article 5 and the UN Charter's Article 2(4) against the use of force. What defines 'force' as it relates to cyber, and what kind of response is merited in the case of uncertainty regarding attribution? In 2009, NATO's Cooperative Cyber Defence Centre of Excellence commissioned a group of experts to publish a study on the application of international law to cyber-warfare. this document, the Tallinn Manual, was published in 2013 as a non-binding exercise to stimulate discussion on the codification of international law on the subject. After analysis, this paper concludes that the Tallinn Manual classifies the 2010 Stuxnet attack on Iran's nuclear program as an illegal act of force. the purpose of this paper is the following: (1) to analyze the historical and technical background of cyber-warfare, (2) to evaluate the Tallinn Manual as it relates to the justification cyber-warfare, and (3) to examine the applicability of the Tallinn Manual in a case study of a historical example of a cyber-attacks. © 2014 IEEE.

关键词： Terrorism

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Smart Stereovision based Gaze control for Navigation in Low-feature Unknown Indoor Environments 5

Smart Stereovision based Gaze Control for Navigation in Low-...

引用

5th international conference on Intelligent Systems, Modelling and Simulation (ISMS)

作者： Al-Mutib, Khalid King Saud Univ Dept Software Engn Riyadh Saudi Arabia

ISBN: (纸本)9781479938575

State-of-the-art mobile robot navigation systems usually consider Gaze control and locomotion planning to be independent modules. We present an integrated gaze control strategy that maximizes the collection of relevant 3D measurements of environment. the presented work results in a more reliable environment representation compared to state-of-the-art approaches for unknown, dynamic indoor environment. In our particular approach, Grid based mapping is employed for path planning purposes. Such an approach demands a sufficient amount of 3D information from stereovision sensors for effective navigation, especially in environments with relatively less number of features such as plain walls and floors. We conduct several experiments in such environments and compare our results with contemporary stereovision based mapping and path planning approaches. We present results of multiple experiments, to show the effectiveness of our system to be able to navigate in low-feature environments using solely, stereovision based gaze control strategy for path planning.

关键词： component robotics navigation Stereo-vision gaze control point cloud filtering multi-baseline path-planning

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Multi-agent control approach for autonomous mobile manipulators: Determination of the best footsteps combination

Multi-agent control approach for autonomous mobile manipulat...

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international conference on informatics in control, automation and robotics (ICINCO)

作者： Messous Mohamed Ayoub Hentout Abdelfetah Bouzouia Brahim Division of Computer-Integrated Manufacturing and Robotics (DPR) Centre for Development of Advanced Technologies (CDTA) Algiers Algeria

this paper presents our ongoing efforts toward the development of a distributed multi-agent framework for autonomous control of mobile manipulators. the proposed scheme assigns a reactive agent (Joint agent) to control each articulation of the manipulator, a hybrid agent (Mobile base agent) for the control of the mobile base, and a Supervisory agent to coordinate and synchronize the work of all the precedent agents. Each control agent implements a Simulation-verification technique, in order to optimize, locally and independently from the other agents, the value of a predefined Objective function (f Obj ). the paper illustrates, also, the methodology we have followed to determine the best combination among possible footsteps for the control agents of the system. this combination will be the input, among others, of the procedure seeking the optimal solution bringing the position of the end-effector of the mobile manipulator as close as possible to the imposed Target position. For this aim, different simulation scenarios are described and carried out, with and without considering breakdowns of some articulations of the manipulator or the mobile base. For the evaluation of the obtained solutions and the selection of the best footsteps combination, we have considered two criteria (i) f Obj values and (ii) the number of iterations.

关键词： Mobile communication Manipulators Robot kinematics Joints Linear programming Proposals

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Mechatronics and Industrial informatics II 1

引用

丛书名： Applied Mechanics and Materials Vol. 596 Ser.

2014年

作者： Yarlagadda, Prasad Choi, Seung Bok Trans Tech Publications, Limited

ISBN: (数字)9783038265597

ISBN: (纸本)9783038351764

Collection of selected, peer reviewed papers from the 2014 2nd international conference on Mechatronics and Industrial informatics (ICMII 2014), May 30-31, 2014, Guangzhou, China. the 213 papers are grouped as follows: Chapter 1: Applied Mechanics, Mechanisms and Dynamics, Chapter 2: Materials Processing and Advanced Manufacturing Technology, Chapter 3: Product Design, Manufacturing and Industrial informatics Applications, Chapter 4: Computer Information Processing Technology, Artificial Intelligence and Intelligent Algorithms, Chapter 5: Sound, Image, Signal and Video Processing and Technologies, Chapter 6: Measurement Technology, Instruments and Sensors, Detection Technologies,Chapter 7: automation Technology, control System Modeling and Simulation Technology,Chapter 8: Power Engineering and control, Power Electronics, Chapter 9: Vehicle control Systems and Intelligent Traffic, Chapter 10: Communications Technology and Materials, Chapter 11: Computer Network and Information Security, Chapter 12: Database Systems and Software Development, Chapter 13: E-Commerce, E-Government, Internet Technologies, WEB Design, Chapter 14: Engineering Education and Engineering Management Keyword: applied Mechanics, materials science, manufacturing, information processing, mechatorincs, signal processing, automation, power engineering, contol systems, e-engineering Selected peer-reviewed papers from a March 2014 conference held in China are presented here, with papers grouped in sections on applied mechanics, materials processing and advanced manufacturing technology, product design, manufacturing and industrial informatics applications, computer information processing technology, and artificial intelligence and intelligent algorithms. Other major themes are sound, image, and video processing, measurement and detection technologies, automation and simulation technology, power engineering and control, power electronics, and vehicle control systems and intelligent traffic. Further sect

关键词： Mechatronics Information technology

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An Improvement in the Observation Model for Monte Carlo Localization

An Improvement in the Observation Model for Monte Carlo Loca...

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international conference on informatics in control, automation and robotics

作者： Anas W. Alhashimi Roland Hostettler thomas Gustafsson Automatic Control Group at Computer Science Electrical and Space Engineering Lulea University of Technology

ISBN: (纸本)9781479979202

Accurate and robust mobile robot localization is very important in many robot applications. Monte Carlo localization (MCL) is one of the robust probabilistic solutions to robot localization problems. the sensor model used in MCL directly influence the accuracy and robustness of the pose estimation process. the classical beam models assumes independent noise in each individual measurement beam at the same scan. In practice, the noise in adjacent beams maybe largely correlated. this will result in peaks in the likelihood measurement function. these peaks leads to incorrect particles distribution in the MCL. In this research, an adaptive sub-sampling of the measurements is proposed to reduce the peaks in the likelihood function. the sampling is based on the complete scan analysis. the specified measurement is accepted or not based on the relative distance to other points in the 2D point cloud. the proposed technique has been implemented in ROS and stage simulator. the result shows that selecting suitable value of distance between accepted scans can improve the localization error and reduce the required computations effectively.

关键词： Localization robotics Particle Filter Monte Carlo Localization Sensor Model Observation Model

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Research of beam domain MVDR and motion compensation 5

Research of beam domain MVDR and motion compensation

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2014 5th international conference on Information Technology for Manufacturing Systems, ITMS 2014

作者： Luo, Xiu Bo Xu, De Min Hu, Jun Jun Hu, Xiao Mei Northwestern Polytechnical University Xi'an China Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Shanghai China

ISBN: (纸本)9783038353263

Minimum variance distortionless response (MVDR) beamformer is a better target detection method, which provided high-resolution and anti-interference abilities. But the nice features will be degraded significantly for a fast bearing-rate target. Because the eigenvalue of longtime integral correlation matrix will spread, the signal and interference are no longer clearly identified by the eigenvectors. A beam domain MVDR and motion compensation arithmetic is given in this paper. the motion effect can be compensated by tracking the signal bearing change using real time estimated beam domain covariance matrix. the detection ability of moving target can be improved. © (2014) Trans Tech Publications, Switzerland.

关键词： Beamforming

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Comparison of color model for object recognition in underwater robotics competitions 5

Comparison of color model for object recognition in underwat...

引用

2013 5th international conference on Advanced Computer control, ICACC 2013

作者： Hou, Guojia Luan, Xin Song, Dalei Li, Xiufang Wang, Yongfang Ji, Zehui College of Information Science and Engineering Ocean University of China Qingdao China College of Engineering Ocean University of China Qingdao China

ISBN: (纸本)9781845649203

In this paper, we review some of the classical color models that have been specifically proposed for object recognition and then we evaluate the recognition accuracy of red object using different models;this work aims to select optimal color model to recognize the red object precisely. As the underwater scenes are usually veiled because of the absorption and scattering of the light induce poor contrast, low luminosity, and restricted visibility, the illumination invariant color models are selected to do several contrast tests. the experiment object images are captured by a color video camera equipped in the underwater robotics, and the experimental results demonstrate that the uSb color model outperforms others with high object recognition accuracy. the illumination invariant color model uSb with large discriminating power is successfully applied to underwater robotics competitions. © 2014 WIT Press.

关键词： Object recognition

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A Comparison of General-Purpose FOSS Compression Techniques for Efficient Communication in Cooperative Multi-Robot Tasks

A Comparison of General-Purpose FOSS Compression Techniques ...

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international conference on informatics in control, automation and robotics

作者： Goncalo S. Martins David Portugal Rui P. Rocha Institute of Systems and Robotics University of Coimbra

ISBN: (纸本)9781479979202

the efficient sharing of information is a commonly overlooked problem in methods proposed for cooperative multi-robot tasks. However, in multi-robot scenarios, especially when the communication network's quality of service is less than desirable, either in bandwidth or reliability, efficient information exchange is a key aspect for the successful deployment of coordinated robotic teams with proper exchange of information. Compression is a popular, well-studied solution for transmitting data through constrained communications channels, and many general-purpose solutions are available as free and open-source software (FOSS) projects. there are various benchmarking tools capable of comparing the performance of these techniques, but none that differentiate between them in the compression of the typical data exchanged among robots in a cooperative task. thus, choosing a compression technique to be used in this context is still a challenge. In this paper, the issue of efficiently communicating data among robots is addressed by comparing the performance of various compression techniques in a case study of multi-robot simultaneous localization and mapping (SLAM) scenarios using occupancy grids, a cooperative task usually requiring the exchange of large amounts of data.

关键词： Compression Methods Multi-Robot Systems Efficient Information Sharing

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Visual SLAM based on single omnidirectional views 9

Visual SLAM based on single omnidirectional views

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9th international conference on informatics in control automation and robotics, ICINCO 2012

作者： Valiente, David Gil, Arturo Fernández, Lorenzo Reinoso, O. Department of Systems Engineering and Automation Miguel Hernández University Av de la Universidad s/n Elche Alicante03202 Spain

ISBN: (纸本)9783319034997

this chapter focuses on the problem of Simultaneous Localization and Mapping (SLAM) using visual information from the environment. We exploit the versatility of a single omnidirectional camera to carry out this task. Traditionally, visual SLAM approaches concentrate on the estimation of a set of visual 3D points of the environment, denoted as visual landmarks. As the number of visual landmarks increases the computation of the map becomes more complex. In thisworkwe suggest a different representation of the environment which simplifies the computation of the map and provides a more compact representation. Particularly, the map is composed by a reduced set of omnidirectional images, denoted as views, acquired at certain poses of the environment. Each view consists of a position and orientation in the map and a set of 2D interest points extracted from the image reference frame. the information gathered by these views is stored to find corresponding points between the current view captured at the current robot pose and the views stored in the map. Once a set of corresponding points is found, amotion transformation can be computed to retrieve the position of both views. this fact allows us to estimate the current pose of the robot and build the map. Moreover, with the intention of performing a more reliable approach, we propose a new method to find correspondences since it is a troublesome issue in this framework. Its basis relies on the generation of a gaussian distribution to propagate the current error on the map to the the matching process We present a series of experiments with real data to validate the ideas and the SLAM solution proposed in this work. © Springer international Publishing Switzerland 2014.

关键词： robotics

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