Some failures cause the robots to loss parts of their capabilities, so that they cannot perform their assigned tasks. Considering requirements of typical robotic teams during different missions, a distributed behavior...
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ISBN:
(纸本)9789728865832
Some failures cause the robots to loss parts of their capabilities, so that they cannot perform their assigned tasks. Considering requirements of typical robotic teams during different missions, a distributed behavior based control architecture is introduced in this paper. this architecture is based on an enhanced version of ALLIANCE, and provides the robots the ability of performing shared tasks based on help requests. the architecture contains a mechanism for adaptive action selection and a communication protocol for information and task sharing which are required for coordination of team members. the proposed architecture is used in a box pushing mission where heterogeneous robots push several boxes with different masses.
As examples of computationally cheap and robust sensors the eyes of a fly are well known in literature. Attempts to replicate the function of the eye in electronic technology has resulted in several algorithms and imp...
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ISBN:
(纸本)9789897583049
As examples of computationally cheap and robust sensors the eyes of a fly are well known in literature. Attempts to replicate the function of the eye in electronic technology has resulted in several algorithms and implementations based on those algorithms. these implementations are either impractical for industrial use or use costly Application Specific Integrated Circuits. In an attempt to use a low-cost Commercial off the Shelf camera as a sensor in a real-world robot navigation use-case we investigate two commonly used algorithms and find them unsuitable. We develop a new algorithm - the Distance of Travel algorithm - show its suitability and investigate its properties in both simulation and practical experiments.
At present, the main method of ocean exploration is Autonomous Underwater Vehicle (AUV) in cooperation with manned Vehicles. After AUV completes its mission, it relies on the operator to retrieve it on the deck of the...
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this paper tests an implementation of the data driven Alarkov chain Alonte Carlo image segmentation procedure used by TO and Zhu. the test we use is a new emprical test based on the ability of an application to make c...
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ISBN:
(纸本)9781424403417
this paper tests an implementation of the data driven Alarkov chain Alonte Carlo image segmentation procedure used by TO and Zhu. the test we use is a new emprical test based on the ability of an application to make certain types of modifications to the image based on the segmentation results.
Autonomous navigation in unstructured environments is a challenging task for which behavior-based control systems proved to be suitable due to their inherent robustness against unforeseen situations. But especially th...
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ISBN:
(纸本)9789897583049
Autonomous navigation in unstructured environments is a challenging task for which behavior-based control systems proved to be suitable due to their inherent robustness against unforeseen situations. But especially the robust perception is still an unsolved problem leading to severe system failures. this paper faces the perception problem by introducing a new data quality-based perception module based on the integrated Behavior-Based control (iB2C) architecture. therefore, a new concept of data quality in behavior-based systems and methods for quality-based data fusion are developed while taking advantage of the modularity, extensibility and traceability of the existing architecture. To demonstrate its capabilities, a perception network for robot localization is derived and its outcomes are compared to an state of the art localization filter in simulation and in a real world scenario as well.
Further studies on computer-based perception by vision modelling are described. the visual perception is mathematically modelled, where the model receives and interprets visual data from the environment. the perceptio...
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ISBN:
(纸本)9789728865832
Further studies on computer-based perception by vision modelling are described. the visual perception is mathematically modelled, where the model receives and interprets visual data from the environment. the perception is defined in probabilistic terms so that it is in the same way quantified. At the same time, the measurement of visual perception is made possible in real-time. Quantifying visual perception is essential for information gain calculation. Providing virtual environment with appropriate perception distribution is important for enhanced distance estimation in virtual reality. Computer experiments are carried out by means of a virtual agent in a virtual environment demonstrating the verification of the theoretical considerations being presented, and the far reaching implications of the studies are pointed out.
In this paper, we introduced a novel micro swarm robotic platform, called the AttaBot, designed specifically for complex systems and swarm robotics research. the novelty of the AttaBot platform is two-folds. (1) Artif...
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ISBN:
(纸本)9789897581984
In this paper, we introduced a novel micro swarm robotic platform, called the AttaBot, designed specifically for complex systems and swarm robotics research. the novelty of the AttaBot platform is two-folds. (1) Artificial pheromones are implemented, (2) Each AttaBot has a gripper to grip small discs on the ground. In this way, AttaBot platform can be used in many different swarm scenarios including foraging, collective motion and collective transport. We introduced the design of the AttaBot, focusing mainly on the gripper design. We designed a novel gripper using off-the-shelf piezostack materials. We simulated the performance of the gripper using COMSOL and depicted the results. We showed that the current design withthe proper piezostack material is feasible and it can used in AttaBot.
In this paper we present an approach for multi-robot cooperative exploration based on the potential field generated by several basic behaviours. When an unknown environment is explored the uncertainty in the localizat...
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ISBN:
(纸本)9789898111319
In this paper we present an approach for multi-robot cooperative exploration based on the potential field generated by several basic behaviours. When an unknown environment is explored the uncertainty in the localization normally grows, this fact may cause the failure of the Simultaneous Localization and Mapping (SLAM) algorithm, and thus constructing an useless and inaccurate map. the exploration algorithm described here considers the current knowledge of the environment, the location of the robots and the uncertainty in their positions in order to return to previously explored areas when it is needed. these actions definitely help the SLAM algorithm to build a precise map. Several simulations are presented that demonstrate the validity of the approach.
Autonomous monitoring of agricultural farms and fields has recently become feasible due to continuing advances in robotics technology, but many notable challenges remain. In this paper, we describe the state of ongoin...
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ISBN:
(纸本)9789897583049
Autonomous monitoring of agricultural farms and fields has recently become feasible due to continuing advances in robotics technology, but many notable challenges remain. In this paper, we describe the state of ongoing work to create a fully autonomous ground rover platform for monitoring and intervention tasks on modern farms that is built using inexpensive and off the shelf hardware and Robot Operating System (ROS) software so as to be affordable to farmers. the hardware and software architectures used in this rover are described along with challenges and solutions in odometry and localization, object recognition and mapping, and path planning algorithms under the constraints of the current hardware. Results obtained from laboratory and field testing show boththe key challenges to be overcome, and the current successes in applying a low-cost rover platform to the task of autonomously navigating the outdoor farming environment.
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