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检索条件"任意字段=Conference on Sensor Fusion amd Decentralized Control in Robotic Systems"

共 78 条记录，以下是1-10 订阅

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Navigation and control of blind-robots in sensorized environments

Navigation and control of blind-robots in sensorized environ...

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conference on sensor fusion amd decentralized control in robotic systems

作者： Trivedi, MM Roche, S Capella, R Univ Calif San Diego Dept Elect & Comp Engn Comp Vis & Robot Res Lab La Jolla CA 92093 USA

ISBN: (纸本)0819429848

In this paper we discuss a new approach for developing useful robotic systems. The main idea is to simplify the robotic systems by eliminating the sensory and control hardware from the robotic platform. Such "sensor-less" systems have significant advantages over the more traditional "sensor-driven" systems. The paper demonstrates the efficacy of this new approach for autonomous navigation of roving robots that require no onboard sensing or control.

关键词： Robots sensors robotic systems Cameras control systems robotics Vehicle control Environmental sensing Neural networks Reliability

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decentralized reinforcement learning control and emergence of motion patterns

Decentralized reinforcement learning control and emergence o...

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conference on sensor fusion amd decentralized control in robotic systems

作者： Svinin, M Yamada, K Okhura, K Ueda, K Kobe Univ Dept Mech Engn Nada Ku Kobe Hyogo 6578501 Japan

ISBN: (纸本)0819429848

In this paper we propose a system for studying emergence of motion patterns in autonomous mobile robotic systems. The system implements an instance-based reinforcement learning control. Three spaces are of importance in formulation of the control scheme. They are the work space, the sensor space, and the action space. Important feature of our system is that all these spaces are assumed to be continuous. The core part of the system is a classifier system. Based on the sensory state space analysis, The control is decentralized and is specified at the lowest level of the control system. However, the local controllers are implicitly connected through the perceived environment information. Therefore, they constitute a dynamic environment with respect to each other. The proposed control scheme is tested under simulation for a mobile robot in a navigation task. It is shown that some patterns of global behavior - such as collision avoidance, wall-following, light-seeking - can emerge from the local controllers.

关键词： sensors Space sensors control systems Space robots Optical sensors Collision avoidance Light sources Mobile robots robotic systems Environmental sensing

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Dynamical systems for the behavioral organization of autonomous robot navigation

Dynamical systems for the behavioral organization of autonom...

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conference on sensor fusion amd decentralized control in robotic systems

作者： Steinhage, A Schoner, G Ruhr Univ Bochum Inst Neuroinformat D-44801 Bochum Germany

ISBN: (纸本)0819429848

We present an architecture for the behavioral organization of autonomous robots. For the example of navigation, we describe how complex behavior can be broken up into multiple elementary behaviors. The overall behavior is generated by activating and deactivating the elementary behaviors dependent on both the sensor input and the intrinsic logics of the behavioral plan needed to fulfill the task. The elementary behaviors as well as their organization into behavioral sequences are achieved by appropriately designed nonlinear dynamical systems. We show how intrinsicly discrete functionalities like counting and decision making can be realized by nonlinear dynamical systems and how these dynamics can be coupled stably and flexibly.

关键词： autonomous systems dynamical systems navigation behavioral organization behavioral sequences logics

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Neural sensor fusion for spatial visualization on a mobile robot

Neural sensor fusion for spatial visualization on a mobile r...

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conference on sensor fusion amd decentralized control in robotic systems

作者： Martens, S Carpenter, GA Gaudiano, P Boston Univ Dept Cognit & Neural Syst Boston MA 02215 USA

ISBN: (纸本)0819429848

An ARTMAP neural network is used to integrate visual information and ultrasonic sensory information on a B14 mobile robot. Training samples for the neural network are acquired without human intervention. sensory snapshots are retrospectively associated with the distance to the wall, provided by on-board odometry as the robot travels in a straight line. The goal is to produce a more accurate measure of distance than is provided by the raw sensors. The neural network effectively combines sensory sources both within and between modalities. The improved distance percept is used to produce occupancy grid visualizations of the robot's environment. The maps produced point to specific problems of raw sensory information processing and demonstrate the benefits of using a neural network system for sensor fusion.

关键词： mobile robot neural network sensor fusion occupancy grid sonar range

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Nonlinear dynamics, symmetries and robot system design

Nonlinear dynamics, symmetries and robot system design

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conference on sensor fusion amd decentralized control in robotic systems

作者： McKee, GT Hasinski, RJ Schenker, PS Univ Reading Dept Comp Sci Reading RG6 6AY Berks England

ISBN: (纸本)0819429848

In this paper we investigate a model for self-organising modular robotic systems based upon dynamical systems theory. Sonar sensing is used as a case study, and the effects of nonlinear interactions between sonar sensing modules are examined. We present and analyse an initial set of results based upon an implementation of the model in simulation. The results show that the sonar sensors organise the relative phase of their sampling in response to changes in the demand placed on them for sensory data. Efficient sampling rates are achieved by the system adapting to take advantage of features in the environment. We investigate the types of phase patterns that emerge, and examine their relationship with symmetries present in the environment.

关键词： robotics nonlinear dynamical systems sonar sensing

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Comparison of state and information based sensor fusion

Comparison of state and information based sensor fusion

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conference on sensor fusion amd decentralized control in robotic systems

作者： Mutambara, AGO FAMU FSU Coll Engn Dept Mech Engn Tallahassee FL 32301 USA

ISBN: (纸本)0819429848

In this paper, state and information space estimation methods used in both linear and nonlinear systems are compared. General recursive estimation and in particular the Kalman filter is discussed and a Bayesian approach to probabilistic information fusion is outlined. The notion and measures of information are defined. This leads to the derivation of the algebraic equivalent of the Kalman filter, the linear information filter. The characteristics of this filter and the advantages of information space estimation are discussed. Examples are then implemented in software to illustrate the algebraic equivalence of the Kalman and Information filters. The benefits of information space are also explored in these case studies. State estimation for systems with nonlinearities is considered and the extended Kalman filter treated. Linear information space is then extended to nonlinear information space by deriving the extended information filter. This establishes all the necessary mathematical tools required for exhaustive information space estimation. The advantages of the extended information filter over the extended Kalman filter are presented and demonstrated. This extended information filter constitute an original and significant contribution to estimation theory made in this paper. Examples of systems involving both nonlinear state evolution and nonlinear observations are simulated. Thus, the algebraic equivalence of the two filters is illustrated and the benefits of nonlinear information space manifested.

关键词： estimation information filter nonlinear data fusion decentralized multisensor

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Integration of camera and range sensors for 3D pose estimation in robot visual servoing

Integration of camera and range sensors for 3D pose estimati...

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conference on sensor fusion amd decentralized control in robotic systems

作者： Hulls, CCW Wilson, WJ Univ Waterloo Dept Elect & Comp Engn Waterloo ON N2L 3G1 Canada

ISBN: (纸本)0819429848

Range-vision sensor systems can incorporate range images or single point measurements. Research incorporating point range measurements has focused on the area of map generation for mobile robots. These systems can utilize the fact that the objects sensed tend to be large and planar. The approach presented in this paper fuses information obtained from a point range measurement with visual information to produce estimates of the relative 3D position and orientation of a small, non-planar object with respect to a robot end-effector. The paper describes a real-time sensor fusion system for performing dynamic visual servoing using a camera and a point laser range sensor. The system is based upon the object model reference approach. This approach, which can be used to develop multi-sensor fusion systems that fuse dynamic sensor data from diverse sensors in real-time, uses a description of the object to be sensed in order to develop a combined observation-dependency sensor model. The range-vision sensor system is evaluated in terms of accuracy and robustness. The results show that the use of a range sensor significantly improves the system performance when there is poor or insufficient camera information. The system developed is suitable for visual servoing applications, particularly robot assembly operations.

关键词： sensor fusion vision pose estimation robot control

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sensor-fused navigation and manipulation from a planetary rover

Sensor-fused navigation and manipulation from a planetary ro...

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conference on sensor fusion amd decentralized control in robotic systems

作者： Baumgartner, ET Leger, PC Schenker, PS Huntsberger, TL CALTECH Jet Prop Lab Sci & Technol Dev Sect Pasadena CA 91109 USA

ISBN: (纸本)0819429848

This paper describes the development of advanced rover navigation and manipulation techniques for use by NASA's Sample Return Rover. These techniques include an algorithm for estimating the change in the rover's position aid orientation ky registering successive range maps from the rover's hazard avoidance stereo camera pair and the fusion of this information with the rover's wheel odometry. This map registration technique is also extended to register range maps to an a priori model-based range map for relative rover position and orientation determination. Finally, a technique for the robust and precise positioning of a rover-mounted manipulator using visual feedback from the rover's stereo pair is presented. Experimental results for each of these techniques is documented in this paper.

关键词： rover navigation state estimation map registration vision-based manipulation

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Complementary data fusion in guidance and control of robot compliant motion

Complementary data fusion in guidance and control of robot c...

引用

conference on sensor fusion amd decentralized control in robotic systems

作者： Xiao, D Ghosh, BK Xi, N Tarn, TJ FANUC Robot N Amer Inc Rochester MI 48309 USA

ISBN: (纸本)0819429848

This paper is devoted to the control problem of a robot manipulator for a class of constrained motions in an unknown environment. To accomplish a task int he presence of uncertainties, we propose a new guidance and control strategy based on multisensor fusion. Three different sensors robot joint encoders, a wrist force-torque sensor and a vision system are utilized for our task. First of all, a sensor-based hybrid position/force control scheme is proposed for an unknown contact surface. Secondly, a new multisensor fusion scheme is utilized to handle an uncalibrated workcell, wherein the surface on which there is a path to be followed by a robot is assumed to be unknown but visible by the vision system and the precise position and orientation of camera(s) with respect to the base frame of the robot is also assumed to be unknown. Our work is related with areas such as visual servoing, multisensor fusion and robot control for constrained motion. The main features of the proposed approach are: (i) multi-sensor fusion is used both for two disparate sensors (i.e. force-torque and visual sensors) and for complementary observed data rather than redundant ones as in traditional way;(ii) visual servoing is realized on the tangent space of the unknown surface;(iii) calibration of the camera with respect to the robot is not needed.

关键词： real-time guidance multisensor fusion hybrid control visual servoing uncalibrated environment

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Dynamic sensor action selection with Bayesian decision analysis

Dynamic sensor action selection with Bayesian decision analy...

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conference on sensor fusion amd decentralized control in robotic systems

作者： Kristensen, S Hansen, V Kondak, K Daimler Benz AG Res Lab Autonomous Syst Intelligent Syst Grp D-10559 Berlin Germany

ISBN: (纸本)0819429848

The aim of this work is to create a framework for the dynamic planning of sensor actions for an autonomous mobile robot. The framework uses Bayesian decision analysis, i.e., a decision-theoretic method, to evaluate possible sensor actions and selecting the most appropriate ones given the available sensors and what is currently known about the state of the world. Since sensing changes the knowledge of the system and since the current state of the robot (task, position, etc.) determines what knowledge is relevant, the evaluation and selection of sensing actions is an on-going process that effectively determines the behaviour of the robot. The framework has been implemented on a real mobile robot and has been proven to be able to central in real-time the sensor actions of the system. In current work we are investigating methods to reduce or automatically generate the necessary model information needed by the decision-theoretic method to select the appropriate sensor actions.

关键词： sensor selection action selection Bayesian decision analysis mobile robots

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