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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41-50 订阅

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Nonlinear attractor dynamics: A new approach to sensor fusion

Nonlinear attractor dynamics: A new approach to sensor fusio...

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sensor fusion and decentralized control in robotic systems II conference

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

ISBN: (纸本)0819434329

Fusing information of multiple sensors is particularly difficult if the sensor systems which provide the information have very different characteristics such as different data formats, reliabilities, signal to noise ratios, sampling rates and so on. Furthermore, the information is often provided on different levels of abstraction such as the direct sensor output in contrast to expert knowledge or a priori information. We propose a new approach to sensor fusion which accounts for these problems. The basic idea is to represent the quantity to estimate as the state variable of a nonlinear dynamical system. The sensor signals act on this dynamics by specifying attractors with limited range of influence. The dynamics relaxes into a stable state which results from the superposition of the attractors. By means of the limited attractor ranges, the dynamics automatically averages nonlinearly over corresponding sensor signals while outliers stemming from temporarily de-calibrated or erroneous sensors are discarded. Self-calibration is achieved by representing also the sensor signals as dynamical states and specifying an attractor at the position of the fused estimate. By using the unified attractor representation, abstract information can be treated in the same way as direct sensor input. Furthermore a mathematically well defined and algebraically analyzable format for dynamic sensor information on various levels of abstraction is available. We verify our concept for the example of man-machine interaction: fusing visual and odometric sensor information for the autonomous position estimation with acoustic guidance information for the target acquisition of a mobile robot.

关键词： nonlinear dynamics attractors sensor fusion mobile robot

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Consequences of module combination in a modular robotics system

Consequences of module combination in a modular robotics sys...

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sensor fusion and decentralized control in robotic systems II conference

作者： Fryer, JA McKee, GT Univ Reading Act Robot Grp Dept Comp Sci Reading RG6 6AY Berks England

ISBN: (纸本)0819434329

Modular robotics considers robots to be composed of distinct functional modules, which may be combined to perform tasks. Module combination allows functionality to be tailored to a task, but has a number of requirements. The notion of a 'module' must be clearly defined, and functionality specified in an unambiguous manner. The nature of the combination must be defined according to specific relationships between modules, and the consequences arising from combination - for modules and for the robot as a whole - need to be considered. The MARS model has been developed to allow reasoning about module combination, in terms of the ways in which modules may be combined, and the consequences that may arise from that combination. This paper defines a set of consequences which may arise during module combination.

关键词： modular robotics systems module combination

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robotic comfort zones

Robotic comfort zones

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conference on sensor fusion and decentralized control in robotic systems III

作者： Likhachev, M Arkin, RC Georgia Inst Technol Coll Comp Mobile Robot Lab Atlanta GA 30332 USA

ISBN: (纸本)0819438618

This paper investigates how the psychological notion of comfort can be useful in the design of robotic systems. A review of the existing study of human comfort, especially regarding its presence in infants, is conducted with the goal being to determine the relevant characteristics for mapping it onto the robotics domain. Focus is placed on the identification of the salient features in the environment that affect the comfort level. Factors involved include current state familiarity, working conditions, the amount and location of available resources, etc. As part of our newly developed comfort function theory, the notion of an object as a psychological attachment for a robot is also introduced, as espoused in Bowlby's theory of attachment. The output space of the comfort function and its dependency on the comfort level are analyzed. The results of the derivation of this comfort function are then presented in terms of the impact they have on robotic behavior. Justification for the use of the comfort function in the domain of robotics is presented with relevance for real-world operations. Also, a transformation of the theoretical discussion into a mathematical framework suitable for implementation within a behavior-based control system is presented. The paper concludes with results of simulation studies and real robot experiments using the derived comfort function.

关键词： comfort zones comfort function attachment theory discrepancy theory behavior-based robotics

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sensor-fused autonomous guidance of a mobile robot and applications to Mars Sample Return operations

Sensor-fused autonomous guidance of a mobile robot and appli...

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sensor fusion and decentralized control in robotic systems II conference

作者： Huntsberger, TL Baumgartner, ET Aghazarian, H Cheng, Y Schenker, PS Leger, PC Iagnemma, KD Dubowsky, S CALTECH Jet Prop Lab Sci & Technol Dev Sect Pasadena CA 91109 USA

ISBN: (纸本)0819434329

Generally, there are multiple sensor suites on existing rover platforms such as NASA's Sample Return Rover (SRR) and the Field Integrated Design and Operations (FIDO) rover at JPL. Traditionally, these sensor suites have been used in isolation for such tasks as planetary surface traversal. For example, although distant obstacle information is known from the narrow FOV navigation camera (NAVCAM) suite on SRR or FIDO, it is not explicitly used at this time for augmentation of the wide FOV hazard camera (HAZCAM) information for obstacle avoidance. This paper describes the development of advanced rover navigation techniques. These techniques include an algorithm for the generation of range maps using the fusion of information from the NAVCAMs and HAZCAMs, and an algorithm for registering range maps to an a priori model-based range map for relative rover position and orientation determination. Experimental results for each of these techniques are documented in this paper.

关键词： rover navigation state estimation map registration

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Solutions for 3-D self-reconfiguration in a modular robotic system:: implementation and motion planning

Solutions for 3-D self-reconfiguration in a modular robotic ...

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conference on sensor fusion and decentralized control in robotic systems III

作者： Ünsal, C Khosla, PK Carnegie Mellon Univ Inst Complex Engineered Syst Pittsburgh PA 15213 USA

ISBN: (纸本)0819438618

In this manuscript, we discuss new solutions for mechanical design and motion planning for a class of three-dimensional modular self-reconfigurable robotic system, namely I-Cubes. This system is a bipartite collection of active links that provide motions for self-reconfiguration, and cubes acting as connection points. The links are three degree of freedom manipulators that can attach to and detach from the cube faces. The cubes can be positioned and oriented using the links. These capabilities enable the system to change its shape and perform locomotion tasks over difficult terrain. This paper describes the scaled down version of the system previously described in [1] and details the new design and manufacturing approaches. Initially designed algorithms for motion planning of I-Cubes are improved to provide better results. Results of our tests are given and issues related to motion planning are discussed. The user interfaces designed for the control of the system and algorithm evaluation is also described.

关键词： self-reconfiguration modular robots reconfiguration planning mechatronics collective robotics

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Towards optimal sensor morphology for specific tasks: Evolution of an artificial compound eye for estimating time to contact

Towards optimal sensor morphology for specific tasks: Evolut...

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conference on sensor fusion and decentralized control in robotic systems III

作者： Lichtensteiger, L Univ Zurich Dept Comp Sci Artificial Intelligence Lab CH-8057 Zurich Switzerland

ISBN: (纸本)0819438618

For a systematic investigation of the interdependence between an agent's morphology and its task environment we constructed a system that is able to automatically generate optimal sensor morphologies for given tasks. The system consists of a robot with an artificial compound eye where the angular positions of the individual facets can be autonomously modified. This paper describes experiments on using artificial evolution to optimise the compound eye morphology for the task of estimating time to contact with obstacles. The resulting morphologies are in goad agreement with the theoretically predicted optimal sensor density distribution for this task. By comparing our results with earlier experiments we find that our robot is able to evolve different optimal morphologies depending on the task required. Since the accuracy of our system proved to be good enough to easily distinguish qualitatively different optimal sensor morphologies we hope that also for more complex task environments it will allow us to identify the optimal sensor distribution with good precision.

关键词： adaptive hardware morphology artificial compound eye artificial evolution autonomous agents

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Robot work crews for planetary outposts: close cooperation and coordination of multiple mobile robots

Robot work crews for planetary outposts: close cooperation a...

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conference on sensor fusion and decentralized control in robotic systems III

作者： Schenker, PS Huntsberger, TL Pirjanian, P Trebi-Ollennu, A Das, H Joshi, S Aghazarian, H Ganino, AJ Kennedy, BA Garrett, MS CALTECH Jet Prop Lab Pasadena CA 91109 USA

ISBN: (纸本)0819438618

We report on the development of cooperating multiple robots. This work builds from our earlier research on autonomous planetary revers and robot arms. Here, we seek to closely coordinate the mobility and manipulation of multiple robots to perform site construction operations-as an example, the autonomous deployment of a planetary power station-a task viewed as essential to a sustained robotic presence and human habitation on Mars. There are numerous technical challenges;these include the mobile handling of extended objects, as well as cooperative transport/navigation of such objects over natural, unpredictable terrain. We describe an extensible system concept, related simulations, a hardware implementation, and preliminary experimental results. In support of this work we have developed an enabling hybrid control architecture wherein multi-robot mobility and sensor-based controls are derived as group compositions and coordination of more basic behaviors under a task-level multi-agent planner. We summarize this control Architecture for Multi-robot Planetary Outposts (CAMPOUT), and its application to physical experiments where two revers carry an extended payload over natural terrain.

关键词： mobile robots cooperating robots robot control architecture sensor fusion intelligent control Mars exploration Mars rovers robot outposts field robotics mobile manipulation robotic navigation SRR (Sample Return Rover)

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Reinforcement learning of periodical gaits in locomotion robots

Reinforcement learning of periodical gaits in locomotion rob...

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sensor fusion and decentralized control in robotic systems II conference

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

ISBN: (纸本)0819434329

Emergence of stable gaits in locomotion robots is studied in this paper. A classifier system, implementing an instance-based reinforcement learning scheme, is used for sensory-motor control of an eight-legged mobile robot. Important feature of the classifier system is its ability to work with the continuous sensor space. The robot does not have a priori knowledge of the environment, its own internal model, and the goal coordinates. It is only assumed that the robot can acquire stable gaits by learning how to reach a light source. During the learning process the control system is self-organized by reinforcement signals. Reaching the light source defines a global reward. Forward motion gets a local reward, while stepping back and falling down get a local punishment. Feasibility of the proposed self-organized system is tested under simulation and experiment. The control actions are specified at the leg level. It is shown that, as learning progresses, the number of the action rules in the classifier systems is stabilized to a certain level, corresponding to the acquired gait patterns.

关键词： Robots Gait analysis sensors control systems Light sources Space sensors Optical sensors Neural networks Oscillators Signal processing

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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...

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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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Anticipation as a key for collaboration in a team of agents: A case study in robotic soccer

Anticipation as a key for collaboration in a team of agents:...

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sensor fusion and decentralized control in robotic systems II conference

作者： Veloso, M Stone, P Bowling, M Carnegie Mellon Univ Dept Comp Sci Pittsburgh PA 15213 USA

ISBN: (纸本)0819434329

We investigate teams of complete autonomous agents that can collaborate towards achieving precise objectives in an adversarial dynamic environment. We have pursued this work in the context of robotic soccer both in simulation and with real physical robots. We briefly present these two frameworks emphasizing their different technical challenges. Creating effective members of a team is a challenging research problem. We first address this issue by introducing a team architecture organization which allows for a rich task decomposition between team members. The main contribution of this paper is our introduction of an action-selection algorithm that allows for a teammate to anticipate the needs of other teammates. Anticipation is critical for maximizing the probability of successful collaboration in teams of agents. We show how our contribution applies to the two concrete robotic soccer frameworks and present controlled empirical results run in simulation. Anticipation was successfully used by both our CMUnited-98 simulator and CMUnited-98 small-robot teams in the RoboCup98 competition. The two teams are RoboCup-98 world champions each in its own league.

关键词： Robots robotics Computer simulations Algorithm development Indium nitride Motion estimation robotic systems sensors Ions Process control

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