intelligent space (iSpace) is a large scale mechatronics system. It is a multidisciplinary effort whose aim is to produce a network structure and components that are capable of integrating sensors, actuators, DSP, com...
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intelligent space (iSpace) is a large scale mechatronics system. It is a multidisciplinary effort whose aim is to produce a network structure and components that are capable of integrating sensors, actuators, DSP, communication, and control algorithms in a manner that suits time-sensitive applications including real-time navigation and/or obstacle avoidance. There are many challenges that must be overcome in order to put such a distributed, heterogeneous system together. This paper deals with one of these issues, i.e. the adverse effect of network and processing delays on the system. Here a delay-resistant sensory motor module for navigating a differential drive unmanned ground vehicle (UGV) in a cluttered environment is suggested. The module consists of an early vision edge detection stage, a harmonic potential field (HPF) planner, a network based quadratic curve fitting controller and gain schedule middleware, (GSM). Though the different techniques used to implement the navigation system have been well-studied as independent modules, the contribution in this paper is the way all these different modules are integrated together for the first time to create an efficient structure for a network based integrated navigation system. The structure of this module and its components are described. Thorough experimental results along with performance assessment comparing the suggested structure to a previous implementation of iSpace are also provided
This paper presents an extension of the binocular technique which considers reciprocal reflectance of surfaces. This particular property allows to recover depth information for surfaces where others stereo techniques ...
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This paper presents an extension of the binocular technique which considers reciprocal reflectance of surfaces. This particular property allows to recover depth information for surfaces where others stereo techniques failed, for example, textureless and highly specular surfaces. The consideration of an arbitrary BRDF (Bidirectional Reflectance Distribution Function) improves conventional stereo algorithms, in such a way that explicit or implicit assumptions about a reflectance function are not necessary and dense depth maps are obtained. Fixed specularities and correspondence between half-occluded regions reduce processing complexity which is an important advantage of this methodology. This paper provides a general geometry assembly to this approach extending its applicability to some specific areas where accurate depth measures are required. Several results from our implementation are shown using rendered ray-tracing stereo images.
A new navigation method is described for an indoor mobile robot. The robot system is composed of a Radio Frequency Identification (RFID) tag sensor and a commercial three-wheel mobile platform with ultrasonic rangefin...
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ISBN:
(纸本)0819460303
A new navigation method is described for an indoor mobile robot. The robot system is composed of a Radio Frequency Identification (RFID) tag sensor and a commercial three-wheel mobile platform with ultrasonic rangefinders. The RFID tags are used as landmarks for navigation and the topological relation map which shows the connection of scattered tags through the environment is used as course instructions to a goal. The robot automatically follows paths using the ultrasonic rangefinders until a tag is found and then refers the next movement to the topological map for a decision. Our proposed technique would be useful for real-world robotic applications such as intelligent navigation for motorized wheelchairs.
Singular value decomposition (SVD) is a common technique that is performed on video sequences in a number of computervision and robotics applications. The left singular vectors represent the eigenimages, while the ri...
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ISBN:
(纸本)0780389123
Singular value decomposition (SVD) is a common technique that is performed on video sequences in a number of computervision and robotics applications. The left singular vectors represent the eigenimages, while the right singular vectors represent the temporal properties of the video sequence. It is obvious that spatial reduction techniques affect the left singular vectors, however, the extent of their effect on the right singular vectors is not clear. Understanding how the right singular vectors are affected is important because many SVD algorithms rely on computing them as an intermediate step to computing the eigenimages. The work presented here quantifies the effects of different spatial resolution reduction techniques on the right singular vectors that are computed from those video sequences. Examples show that using random sampling for spatial resolution reduction rather than a low-pass filtering technique results in less perturbation of the temporal properties.
Singular value decomposition (SVD) is a common technique that is performed on video sequences in a number of computervision and robotics applications. The left singular vectors represent the eigenimages, while the ri...
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Singular value decomposition (SVD) is a common technique that is performed on video sequences in a number of computervision and robotics applications. The left singular vectors represent the eigenimages, while the right singular vectors represent the temporal properties of the video sequence. It is obvious that spatial reduction techniques affect the left singular vectors; however, the extent of their effect on the right singular vectors is not clear. Understanding how the right singular vectors are affected is important because many SVD algorithms rely on computing them as an intermediate step to computing the eigenimages. The work presented here quantifies the effects of different spatial resolution reduction techniques on the right singular vectors that are computed from those video sequences. Examples show that using random sampling for spatial resolution reduction rather than a low-pass filtering technique results in less perturbation of the temporal properties.
This paper introduces a tool developed for remote operation and simulation of swarms of robots. The tool provides a possibility for the user to easily and simultaneously operate multiple robots remotely. The robots ca...
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ISBN:
(纸本)081945561X
This paper introduces a tool developed for remote operation and simulation of swarms of robots. The tool provides a possibility for the user to easily and simultaneously operate multiple robots remotely. The robots can be either simulated or real physical robots. In addition to direct control of the robots, the user interface part of the tool can be used to develop robot behaviours using plug-ins made with Java or our graphical state machine editor. The development and testing of behaviours can be facilitated by using methods tested with the supporting simulation features of the tool before controlling real robots.
Cooperation between several mobile robots enables to address more complex tasks or to provide more robust performance. Navigation and localisation forms the basis for the coordination and autonomous behaviours of team...
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ISBN:
(纸本)081945561X
Cooperation between several mobile robots enables to address more complex tasks or to provide more robust performance. Navigation and localisation forms the basis for the coordination and autonomous behaviours of teams of mobile robots. Therefore analyses of the kinematics and of the sensor field of view for the different vehicles are summarized in order to characterize robust formations during movements. In this approach optimized robot formations with respect to the given sensor configurations are maintained by the control system during the joint motion towards the target. The application of this method for guidance by a navigator and for cooperative manipulation tasks is discussed and tested with mobile robot hardware.
Following on recent robotic exploration of Mars by twin Exploration Rovers (MER), the National Aeronautics and Space Administration (NASA) is now moving into a new program of human-robotic (H-R) exploration. This &quo...
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ISBN:
(纸本)081945561X
Following on recent robotic exploration of Mars by twin Exploration Rovers (MER), the National Aeronautics and Space Administration (NASA) is now moving into a new program of human-robotic (H-R) exploration. This "National Space vision" was introduced in January 2004 by the US White House. The range of such exploration spans the inner planets and Earth moon, to outer planets, their moons and small bodies. Applicable systems and technologies include autonomous mobile robots operating on-and-near solar system bodies, telerobotic servicers, and ultimately, H-R work crews operating at lower and higher gravitational libration points as well as sustaining outposts on lunar and planetary bodies. In this invited talk, we give a brief technical perspective on the evolution from robotic to H-R space exploration.
intelligent mobile robots must often operate in an unstructured environment cluttered with obstacles and with many possible action paths to accomplish a variety of tasks. Such machines have many potential useful appli...
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ISBN:
(纸本)081945561X
intelligent mobile robots must often operate in an unstructured environment cluttered with obstacles and with many possible action paths to accomplish a variety of tasks. Such machines have many potential useful applications in medicine, defense, industry and even the home so that the design of such machines is a challenge with great potential rewards. Even though intelligent systems may have symbiotic closure that permits them to make a decision or take an action without external inputs, sensors such as vision permit sensing of the environment and permit precise adaptation to changes. Sensing and adaptation define a reactive system. However, in many applications some form of learning is also desirable or perhaps even required. A further level of intelligence called understanding may involve not only sensing, adaptation and learning but also creative, perceptual solutions involving models of not only the eyes and brain but also the mind. The purpose of this paper is to present a discussion of recent technical advances in learning for intelligent mobile robots with examples of adaptive, creative and perceptual learning. The significance of this work is in providing a greater understanding of the applications of learning to mobile robots that could lead to important beneficial applications.
The Bearcat "Cub" Robot is an interactive, intelligent, Autonomous Guided Vehicle (AGV) designed to serve in unstructured environments. Recent advances in computer stereo visionalgorithms that produce quali...
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ISBN:
(纸本)081945561X
The Bearcat "Cub" Robot is an interactive, intelligent, Autonomous Guided Vehicle (AGV) designed to serve in unstructured environments. Recent advances in computer stereo visionalgorithms that produce quality disparity and the availability of low cost high speed camera systems have simplified many of tasks associated with robot navigation and obstacle avoidance using stereo vision. Leveraging these benefits, this paper describes a novel method for autonomous navigation and obstacle avoidance currently being implemented on the UC Bearcat Robot. The core of this approach is the synthesis of multiple sources of real-time data including stereo image disparity maps, tilt sensor data, and LADAR data with standard contour, edge, color, and line detection methods to provide robust and intelligent obstacle avoidance. An algorithm is presented with Matlab code to process the disparity maps to rapidly produce obstacle size and location information in a simple format, and features cancellation of noise and correction for pitch and roll. The vision and control computers are clustered with the Parallel Virtual Machine (PVM) software. The significance of this work is in presenting the methods needed for real time navigation and obstacle avoidance for intelligent autonomous robots.
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