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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11-20 订阅

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Building a million beacon map

Building a million beacon map

引用

sensor fusion and decentralized control in robotic systems IV conference

作者： Julier, SJ Uhlmann, JK IDAK Ind Jefferson City MO 65109 USA

ISBN: (纸本)0819442992

Many future missions for mobile robots demand multi-robot systems which are capable of operating in large environments for long periods of time. A critical capability is that each robot must be able to localise itself. However, GPS cannot be used in many environments (such as within city streets, under water, indoors, beneath foliage or extra-terrestrial robotic missions) where mobile robots are likely to become commonplace. A widely researched alternative is Simultaneous Localization and Map Building (SLAM): the vehicle constructs a map and, concurrently, estimates its own position. In this paper we consider the problem of building and maintaining an extremely large map (of one million beacons). We describe a fully distributed, highly scaleable SLAM algorithm which is based on distributed data fusion systems. A central map is maintained in global coordinates using the Split Covariance Intersection (SCI) algorithm. Relative and local maps are run independently of the central map and their estimates are periodically fused with the central map.

关键词： Filtering (signal processing) Mobile robots Data fusion Algorithm development Process modeling robotic systems sensors Distributed computing Global Positioning System robotics

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Algebraic reconstruction technique fusing with pointwise measurements in optical computerized tomography

Algebraic reconstruction technique fusing with pointwise mea...

引用

sensor fusion and decentralized control in robotic systems IV conference

作者： Yao, W Adjouadi, M Florida Int Univ Dept Elect & Comp Engn Miami FL 33174 USA

ISBN: (纸本)0819442992

In Optical Computerized Tomography (OCT) reconstruction, the well-known restrictions are positivity of the field and boundary conditions. In this paper, the extra information - the probed value of a set of isolated points, which is readily available in industrial practice, is introduced into OCT based on information fusing (IF) techniques. To solve the incompatibility of the different testing systems, which brings high frequencies disturbance to the reconstruction, an adaptive algorithm is developed to make a good use of the pointwise priori. The algorithm derived from the third Algebraic Reconstruction Technique (ART3), is not only friendly to the information from various measuring systems, but very robust to irregular noise and even missing projections as well. By analyzing the simulated experiments, we strongly suggest that OCT give some attention to the information from external resources.

关键词： Optical Computerized Tomography Algebraic Reconstruction Techniques information fusion

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A Bayesian network approach to sensor fusion of aerial imagery

A Bayesian network approach to sensor fusion of aerial image...

引用

sensor fusion and decentralized control in robotic systems IV conference

作者： Kämpke, T Elfes, A Res Inst Appl Knowledge Proc Ulm Germany

ISBN: (纸本)0819442992

Estimation of superresolution models is a problem of great interest across a broad range of applications in computer vision and robot perception. However, approaches to superresolution model estimation tend to have very high computational complexity. In this paper, we address the superresolution model estimation problem using a general modelling approach based on two-layer Bayesian or causal networks. sensor nodes encode stochastic sensor models, while model nodes encode probabilistic inferences made about their state. The model nodes are arranged as a MRF spatial lattice. We derive optimal estimation procedures for several classes of superresolution world models, including single and multiple observation models, and analyze their computational complexity. We subsequently introduce three suboptimal estimation methods: Reinjection of Marginals (ROM), Independent Opinion Pool (IOP), and Non-Propagation of Neighbours (NPN). These methods, although suboptimal, are extremely efficient and provide high-quality superresolution estimates. We conclude by presenting results from the application of these procedures to the fusion of multiple aerial images to form highly accurate superresolution images for airborne surveying and monitoring applications.

关键词： stochastic sensor fusion Bayesian networks superresolution image estimation Markov random fields stochastic spatial models airborne monitoring

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Towards a perception and sensor fusion architecture for a robotic airship

Towards a perception and sensor fusion architecture for a ro...

引用

sensor fusion and decentralized control in robotic systems IV conference

作者： Elfes, A Carvalho, JRH Bergerman, M Bueno, SS Res Inst Appl Knowledge Proc Ulm Germany

ISBN: (纸本)0819442992

robotic unmanned aerial vehicles have an enormous potential as observation and data-gathering platforms for a wide variety of applications. This paper discusses components of a perception architecture being developed for AURORA (Autonomous Unmanned Remote Monitoring robotic Airship). The AURORA project focusses on the development of the technologies required for substantially autonomous unmanned aerial vehicles, and for robotic airships in particular. We describe our approach to spatial representation, which incorporates a Markov Random Field (MRF) model used for encoding spatial inferences obtained from sensor imagery. We present a dynamic approach to target recognition that uses a cycle of hypothesis formulation, experiment planning for hypothesis validation, experiment execution, and hypothesis evaluation to confirm or reject the classification of targets into object classes. We also discuss an approach to automatic hovering and landing using visual servoing techniques and interaction matrices, and present preliminary experimental results from our work.

关键词： UAV robotic airship perception architecture Markov random field active perception stochastic sensor models visual servoing

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Dynamic multi-sensor fusion for mobile robot navigation in an indoor environment

Dynamic multi-sensor fusion for mobile robot navigation in a...

引用

sensor fusion and decentralized control in robotic systems IV conference

作者： Jin, TS Lee, JM Luk, BL Tso, SK Pusan Natl Univ Dept Elect Engn Pusan South Korea

ISBN: (纸本)0819442992

In this study, as the preliminary step for developing a multi-purpose Autonomous robust carrier mobile robot to transport trolleys or heavy goods and serve as robotic nursing assistant in hospital wards. The aim of this paper is to present the use of multi-sensor data fusion such as sonar, CCD camera and IR sensor for map-building mobile robot to navigate, and presents an experimental mobile robot designed to operate autonomously within both indoor and outdoor environments. Smart sensory systems are crucial for successful autonomous systems. We will give an explanation for the robot system architecture designed and implemented in this study and a short review of existing techniques, since there exist several recent thorough books and review paper on this paper. Instead we will focus on the main results with relevance to the intelligent service robot project at the Centre of Intelligent Design, Automation & Manufacturing (CIDAM). We will conclude by discussing some possible future extensions of the project. It is first dealt with the general principle of the navigation and guidance architecture, then the detailed functions recognizing environments updated, obstacle detection and motion assessment, with the first results from the simulations run.

关键词： sensor fusion mobile robot motion planning mobile robot navigation map-building

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Development of CAMPOUT and its further applications to planetary rover operations: a multi-robot control architecture

Development of CAMPOUT and its further applications to plane...

引用

sensor fusion and decentralized control in robotic systems IV conference

作者： Pirjanian, P Huntsberger, TL Schenker, PS CALTECH Jet Prop Lab Planetary Robot Lab Pasadena CA 91109 USA

ISBN: (纸本)0819442992

In this paper, we describe an architecture for the development of autonomy software for multi-robot distributed control and collective estimation. CAMPOUT, the control Architecture for Multi-Robot Planetary OUTposts, provides communication facilities for sharing of state information across robots and it uses a behavior network for representation and execution of group activities as well as the activities of a single robot. In our research, we have shown that CAMPOUT provides a level of abstraction that enables us to develop multi-robot software in a manner much similar to what we use for single robot software development. We showcase the main architectural components by describing two multi-robot tasks for planetary construction and collective cliff-descent. For both tasks, we show how behavior networks can be used to describe group activities and how publish/subscribe and other communication mechanisms can be used to share state information across multiple robots.

关键词： control architecture multi-robot systems tight coordination planetary rover operations

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Collection of environmental data from an airship platform

Collection of environmental data from an airship platform

引用

sensor fusion and decentralized control in robotic systems IV conference

作者： Kantor, G Wettergreen, D Ostrowski, JP Singh, S Carnegie Mellon Univ Inst Robot Pittsburgh PA 15213 USA

ISBN: (纸本)0819442992

We believe that solar powered, autonomous airships with the capability to embark on extended duration sampling missions will serve as valuable tools for environmental science. In this paper, we outline our vision for an autonomous airship and discuss some of the applications for which such a craft would be well suited. We also report on our efforts to date to realize this vision. Specifically, we discuss the use of solar energy as a renewable source of power for airships. We also describe the configuration of a nine meter airship that we will use as a testbed for environmental sampling and autonomy research. We conclude by outlining directions for future research.

关键词： sensors Solar energy Solar cells Environmental sensing Air contamination Carbon monoxide Global Positioning System Gyroscopes Navigation systems Skin

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Large-scale concurrent mapping and localization

Large-scale concurrent mapping and localization

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conference on sensor fusion and decentralized control in robotic systems III

作者： Leonard, JJ MIT Dept Ocean Engn Cambridge MA 02139 USA

ISBN: (纸本)0819438618

The goal of concurrent mapping and localization (CML) is to enable a mobile robot to build a map of an unknown environment, while simultaneously using this map to navigate. This paper discusses some of the challenges that are encountered in the development of practical real-time implementations of CML for one or more autonomous mobile robots operating in large-scale environments.

关键词： Stochastic processes Mobile robots Associative arrays Data fusion sensors Environmental sensing robotics Error analysis robotic systems Navigation systems

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Development of a self-reconfigurable modular robotic system

Development of a self-reconfigurable modular robotic system

引用

conference on sensor fusion and decentralized control in robotic systems III

作者： Tomita, K Murata, S Yoshida, E Kurokawa, H Kamimura, A Kokaji, S Minist Int Trade & Ind Agcy Ind Sci & Technol Mech Engn Lab Tsukuba Ibaraki 3058564 Japan

ISBN: (纸本)0819438618

We present a novel type of modular robotic system that has a capability of both autonomous shape reconfiguration and robotic motion generation. We have developed hardware modules and examined basic mechanical functions and reconfiguration. A simulation system of the modular robotic system has also been developed to design the reconfiguration sequence and motion for a cluster of the modules.

关键词： self-reconfigurable robot distributed autonomous system modular robot

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Automatic lane keeping of a vehicle based on perception net.

Automatic lane keeping of a vehicle based on perception net.

引用

conference on sensor fusion and decentralized control in robotic systems III

作者： Boo, K Jung, MY Inje Univ Dept Mech Engn Kimhae Kyungnam South Korea

ISBN: (纸本)0819438618

The objective of this research is to monitor and control the vehicle motion in order to remove out the existing safety risk based upon the human-machine cooperative vehicle control. A predictive control method is proposed to control the steering wheel of the vehicle to keep the lane. Desired angle of the steering wheel to control the vehicle motion could be calculated based upon vehicle dynamics, current and estimated pose of the vehicle every sample steps. The vehicle pose and the road curvature were calculated by geometrically fusing sensor data fro*m camera image, tachometer and steering wheel encoder though the Perception Net, where not only the state variables, but also the corresponding uncertainties were propagated in forward and backward direction in such a way to satisfy the given constraint condition, maintain consistency, reduce the uncertainties, and guarantee robustness. A series of experiments was conducted to evaluate the control performance, in which a car like robot was utilized to quit unwanted safety problem. As the results, the robot was keeping very well a given lane with arbitrary shape at moderate speed.

关键词： perception net sensor fusion vehicle motion control image processing

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