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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31-40 订阅

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Agent-based control architecture for teleoperation

Agent-based control architecture for teleoperation

引用

conference on sensor fusion and decentralized control in Autonomous robotic systems

作者： Brooks, B McKee, GT Univ. of Reading (United Kingdom)

ISBN: (纸本)0819426415

In this paper we propose a model for agent-based control within teleoperation environments. We illustrate their role in providing automated assistance for task viewing. The paper reviews existing approaches to viewing support, which tend to focus on augmented displays. We outline our approach to providing viewing support, based on ''visual acts''. agent-based architectures are reviewed and their application to viewing support under the visual acts model is presented. Communication is a key requirement for agent architectures. We present a system, channels, which we are currently developing to support the implementation of the agent model.

关键词： teleoperation visual acts multi-agent systems

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Steering and control of a passively articulated robot

Steering and control of a passively articulated robot

引用

sensor fusion and decentralized control in robotic systems IV conference

作者： Shamah, B Wagner, MD Moorehead, S Teza, J Wettergreen, D Whittaker, WR Carnegie Mellon Univ Inst Robot Field Robot Ctr Pittsburgh PA 15213 USA

ISBN: (纸本)0819442992

The need for light weight yet highly mobile robotic platforms is driven by the limitation of available power. With unlimited energy, surface exploration missions could survive for months or years and greatly exceed their current productivity. The Sun-Synchronous Navigation project is developing long-duration solar-powered robot exploration through research in planning techniques and low-mass robot configurations. Hyperion is a rover designed and built for experiments in sun-synchronous exploration. This paper details Hyperion's steering mechanism and control, which features 4-wheel independent drive and an innovative passively articulated steering joint for locomotion.

关键词： Motion controllers robotics control systems Reliability Kinematics Computer programming Actuators Amplifiers sensors Sun

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Action selection within the context of a robotic colony

Action selection within the context of a robotic colony

引用

sensor fusion and decentralized control in robotic systems II conference

作者： Huntsberger, T Mataric, M Pirjanian, P CALTECH Jet Prop Lab Sci & Technol Dev Sect Pasadena CA 91109 USA

ISBN: (纸本)0819434329

Preparation of planetary surface sites prior to a manned mission can be accomplished through the use of a robotic colony. The tasks of such a colony would include habitat deployment, setup of in-situ fuel and oxygen production plants, and beaconed road placement. The colony will have to possess a great deal of autonomy for this ambitious list. BISMARC (Biologically Inspired System for Map-based Autonomous Rover control) is a behavior based system for the control of multiple rovers on planetary surfaces. During the past few years the system has performed well in multiple cache retrieval simulations, and a certain degree of fault tolerance has been included in the design. In this paper we address the extensions to BISMARC that would be necessary for a robotic colony application. These extensions include a wider array of behaviors, better communication and mapping capabilities, and fault tolerance shared by the colony. The results of some simulations for habitat site preparation are reported.

关键词： robotic colonies planetary revers behavior-based control

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Symmetry breaking as a model for emergent structure of heterogeneous networked robotic agents

Symmetry breaking as a model for emergent structure of heter...

引用

conference on sensor fusion and decentralized control in Autonomous robotic systems

作者： McKee, GT Schenker, PS Univ. of Reading (United Kingdom) Jet Propulsion Lab. (United States)

ISBN: (纸本)0819426415

This paper explores the design of robot systems to lake advantage of non-linear dynamic systems models, specifically symmetry breaking phenomena, to self-organise in response to task and environment demands. Recent research in the design of robotics systems has stressed modular, adaptable systems operating under decentralised acid distributed control architectures. Cooperative and emergent behavioural structures can be built on these modules by exploiting various forms of communication acid negotiation strategies. We focus on the design of individual modules and their cooperative interaction. We draw on nonlinear dynamic system models of human and animal behaviour to motivate issues in the design of robot modules and systems. Sonar sensing systems comprising a ring of sonar sensors are used to illustrate the Ideas within a networked robotics context, where distributed sensing modules located on multiple robots can interact cooperatively to scan an environment.

关键词： cooperative robots nonlinear dynamical systems symmetry sonar sensing

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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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3D model creation through volumetric fusion of multiple range images

3D model creation through volumetric fusion of multiple rang...

引用

conference on sensor fusion and decentralized control in Autonomous robotic systems

作者： Elsner, DL Whitaker, RT Abidi, MA Univ. of Tennessee/Knoxville (United States)

ISBN: (纸本)0819426415

This paper presents a method to fuse multiple noisy range images to obtain a 3-D model of an object. This method projects each range image onto a volumetric grid that is divided into volume elements (voxels). We place a value in each voxel that represents our degree of certainty that that voxel is inside the sensed object. We determine this value by constructing a line from the voxel to the sensor's location and calculating the point that it intersects the range image. The certainty value is determined from the distance from the voxel to the range image intersection point and an estimate of the sensor's noise characteristics. The super Bayesian combination formula is used to fuse the grids created from the individual range images into an overall volumetric grid. We obtain the object model by extracting an isosurface at the value of 1/2 from the volumetric data using a variation of the marching cubes algorithm.

关键词： volumetric modeling range images sensor data fusion

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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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Algebraic reconstruction technique fusing with pointwise measurements in optical computerized tomography

Algebraic reconstruction technique fusing with pointwise mea...

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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...

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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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Processing modules for hybrid, real-time, distributed robot architectures

Processing modules for hybrid, real-time, distributed robot ...

引用

conference on sensor fusion and decentralized control in Autonomous robotic systems

作者： Chernett, P Colley, M Callaghan, V Univ. of Essex (United Kingdom)

ISBN: (纸本)0819426415

New experimental hardware for research into architectures for distributed intelligent embedded systems is proposed that will provide a wide range of communication media including non-deterministic broadcast such as Ethernet, deterministic broadcast such as CAN and processor busses such as VME. The emphasis is on large scale system integration rather than provision for individual capabilities. A prototype implementation of some of the proposed hardware and software modules is described together with their use in several research.

关键词： hybrid architecture distributed systems autonomous vehicles real-time agricultural vehicles subsea vehicles

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