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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51-60 订阅

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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...

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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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Dynamic Bayes net approach to multimodal sensor fusion

Dynamic Bayes net approach to multimodal sensor fusion

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conference on sensor fusion and decentralized control in Autonomous robotic systems

作者： Singhal, A Brown, C Univ. of Rochester (United States)

ISBN: (纸本)0819426415

Autonomous mobile robots rely on multiple sensors to perform a varied number of tasks in a, given environment. Different tasks may need different sensors to estimate different subsets of world state. Also, different sensors can cooperate in discovering common subsets of world state. This paper presents a nerv approach to multimodal sensor fusion using dynamic Bayesian networks and an occupancy grid. The environment in which the robot operates is represented with an occupancy grid, This occupancy grid is asynchronously updated using probabilistic data obtained from multiple sensors and combined using Bayesian networks. Each cell in the occupancy grid stores multiple probability density functions representing combined evidence for the identity, location and properties of objects in the world. The occupancy grid a;iso contains probabilistic representations for moving objects. Bayes nets allow information from one modality to provide cues for interpreting the output of sensors in other modalities. Establishing correlations or associations between sensor readings or interpretations leads to learning the conditional relationships between them, Thus bottoms-up, reflexive, or even accidentally-obtained information earn provide tops-down cues for other sensing strategies. We present early results obtained for a mobile robot navigation task.

关键词： dynamic Bayes nets multimodal sensor fusion mobile robot navigation occupancy grids

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Visual servo system based on a biologically-inspired scanning sensor

Visual servo system based on a biologically-inspired scannin...

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sensor fusion and decentralized control in robotic systems II conference

作者： Viollet, S Franceschini, N CNRS Neurobiol Lab LNB3 F-13402 Marseille 20 France

ISBN: (纸本)0819434329

In the framework of our biologically inspired robotics approach, we describe a visually-guided demonstration model aircraft, the attitude of which is stabilized in yaw by means of a novel, non emissive optical sensor having a small visual field. This aircraft incorporates a miniature scanning sensor consisting of two photoreceptors with adjacent visual axes, driving a Local Motion Detector (LMD), which are made to perform a low-amplitude scanning at a varying angular speed. Under these conditions, the signal output from the motion detector varies gradually with the angular position of a contrasting object placed in its visual field, actually making the complete system a non-emissive optical "position sensor". Its output, remarkably, (i) varies quasi-linearly with the angular position of the contrasting object, and (ii) remains largely invariant with respect to the distance to the object and its degree of contrast. We built a miniature, twin-engine, twin-propeller aircraft (weight 100 grammes) equipped with this visual position sensor. After incorporating the sensor into a visuomotor feedback loop enhanced by an inertial sensor, we established that the "sighted aircraft" can fixate and track a dark edge placed in its visual field, thus opening the way for the development of visually-guided systems for controlling the attitude of micro-air vehicles, of the kind observed in insects such as hover-flies.

关键词： vision optical sensor position sensor non-emissive sensor scanning tracking visual fixation motion detection micro air vehicles attitude control

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Reciprocal excitation between biological and robotic research

Reciprocal excitation between biological and robotic researc...

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conference on sensor fusion and decentralized control in robotic systems III

作者： Schaal, S Sternad, D Dean, W Kotosaka, S Osu, R Kawato, M Univ So Calif Los Angeles CA 90089 USA

ISBN: (纸本)0819438618

While biological principles have inspired researchers in computational and engineering research for a long time, there is still rather limited knowledge flow back from computational to biological domains. This paper presents examples of our work where research on anthropomorphic robots lead us to new insights into explaining biological movement phenomena, starting from behavioral studies up to brain imaging studies. Our research over the past years has focused on principles of trajectory formation with nonlinear dynamical systems, on learning internal models for nonlinear control, and on advanced topics like imitation learning. The formal and empirical analyses of the kinematics and dynamics of movements systems and the tasks that they need to perform lead us to suggest principles of motor control that later on we found surprisingly related to human behavior and even brain activity.

关键词： Robots Kinematics robotics Dynamical systems Brain Biological research control systems Differential equations systems modeling Complex systems

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An Extended Kalman Filter for frequent local and infrequent global sensor data fusion

An Extended Kalman Filter for frequent local and infrequent ...

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conference on sensor fusion and decentralized control in Autonomous robotic systems

作者： Roumeliotis, SI Bekey, GA Department of Electrical Engineering Department of Computer Science Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA 90089-0781 United States

ISBN: (纸本)0819426415

In this paper we compare the performance of a dead-reckoning system for robot navigation to a system using an Extended Kalman Filter (EKF). Dead-reckoning systems are able to approximate position and orientation by feeding data (provided usually by local sensors) to the kinematic model of the vehicle. These systems are subject to many different sources of error. EKFs have the ability to combine the same information and compensate for most of these errors to yield a better estimate. Our simulation results using a simplified kinematic model of Rocky 7 (an experimental rover used in the Mars exploration program at Jet Propulsion Laboratory (JPL)) show that an improvement in performance up to 40% (position error) can be achieved. The local sensors used are: wheel encoders, steering angle potentiometer and gyroscope. Involvement of global sensor measurements can drastically increase the accuracy of the estimate. The lack of GPS or magnetic field on Mars narrows our choices for global localization. Landmarks, such as the sun can be used as natural beacons (reference point for absolute measurements). A sun sensor (SS) that measures the absolute orientation of the rover has been built by Lockheed Martin and now is part of the sensor suite of Rocky 7. The SS measurement is crucial for the estimation filter and we show that the accuracy of the estimation decreases exponentially as the frequency of the SS data fed to the EKF decreases.

关键词： robot localization sun sensor Extended Kalman Filter

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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...

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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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Grid-based framework for sensorial data integration in mobile robots

Grid-based framework for sensorial data integration in mobil...

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conference on sensor fusion and decentralized control in Autonomous robotic systems

作者： Silva, A Menezes, P Dias, J Araujo, H Univ. de Coimbra (Portugal)

ISBN: (纸本)0819426415

This article presents a method to combine data from two sensorial modalities, a stereoscopic vision based sensor and a ring of ultrasonic sensors, in a grid based framework for obstacle detection and avoidance with mobile robots. The sensors' data is combined using Dempster-Shafer theory. This theory allows the combination of multiple sensorial data sources in a way that they are mutually enhanced and validated. A connectionist grid is used to support these operations and the environment modeling. Each grid node maps a configuration in a discrete subset of the robot's configuration space. The process used to obtain obstacle presence information from the stereoscopic setup and ultrasonic sensors is explained in detail. Detected obstacles result in sets of restricted configurations. The grid dynamic behavior allows the iterative computation of a repulsive potential field, which rises in the vicinity of the restricted configurations. As new information is collected by the sensors during the robot's motion so new configurations are marked as restrict and the potential field changes accordingly. Since this process occurs in real time, the computed potential field can he used to navigate the robot avoiding the detected obstacles. Experimental results are presented to support the used sensor models, the integration procedure and the control strategy.

关键词： obstacle detection sensor fusion mobile robot navigation

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A unique sensor fusion system for coordinate measuring machine tasks

A unique sensor fusion system for coordinate measuring machi...

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conference on sensor fusion and decentralized control in Autonomous robotic systems

作者： Nashman, M Yoshimi, B Hong, TH Rippey, WG Herman, M National Institute of Standards and Technology Bldg. 220B124 Gaithersburg MD 20899 United States

ISBN: (纸本)0819426415

This paper describes a real-time hierarchical system that fuses data from vision and touch sensors to improve the performance of a coordinate measuring machine (CMM) used for dimensional inspection tasks. The system consists of sensory processing, world modeling, and task decomposition modules. It uses the strengths of each sensor-the precision of the CMM scales and the analog touch probe and the global information provided by the low resolution camera-to improve the speed and flexibility of the inspection task. In the experiment described, the vision module performs all computations in image coordinate space. The part's boundaries' are extracted during an initialization process and then the probe's position is continuously updated as it scans and measures the part surface. The system fuses the estimated probe velocity and distance to the part boundary in image coordinates with the estimated velocity and probe position provided by the CMM controller. The fused information provides feedback to the motion controller as it guides the touch probe to scan the part. We also discuss integrating information from the vision system and the probe to autonomously collect data for 2-D to 3-D calibration, and work to register Computer Aided Design (CAD) models with images of parts in the workplace.

关键词： computer aided design (CAD) calibration computer vision coordinate measuring machine (CMM) real-time control system (RCS) sensor fusion touch probe

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Cooperative robotic sentry vehicles

Cooperative robotic sentry vehicles

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sensor fusion and decentralized control in robotic systems II conference

作者： Feddema, J Lewis, C Klarer, P Eisler, R Caprihan, R Sandia Natl Labs Intelligent Syst & Robot Ctr Albuquerque NM 87185 USA

ISBN: (纸本)0819434329

As part of a project for the Defense Advanced Research Projects Agency, Sandia National Laboratories' Intelligent systems & robotics Center is developing and testing the feasibility of a cooperative team of robotic sentry vehicles to guard a perimeter and to perform a surround task. This paper describes on-going activities in the development of these robotic sentry vehicles. To date, we have developed a robotic perimeter detection system which consists of eight "Roving All Terrain Lunar Explorer Rovers" (RATLER(TM)), a laptop-based base-station, and several Miniature Intrusion Detection sensors (MIDS). A radio frequency receiver on each of the RATLER vehicles alerts the sentry vehicles of alarms from the hidden MIDS. When an alarm is received, each vehicle decides whether it should investigate the alarm based on the proximity of itself and the other vehicles to the alarm As one vehicle attends an alarm, the other vehicles adjust their position around the perimeter to better prepare for another alarm For the surround task both potential field and A* search path planners have been added to the base-station and vehicles. At the base-station, the operator specifies goal and exclusion regions on a GIS map. The path planner generates vehicle paths that are previewed by the operator. Once the operator has validated the path, the appropriate information is downloaded to the vehicles. For the potential field path planner, the polygons and line segments that represent the obstacles and goals are downloaded to the vehicles, instead of the simulated paths. On board the vehicles, the same potential field path planner generates the path except that it uses the true location of itself and the nearest neighboring vehicle. For the A* path planner, the actual path is downloaded to the vehicles because of limited on-board computational power.

关键词： mobile robots cooperative control distributed autonomous systems

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A modular planning/control architecture for the semi-autonomous control of telerobots in a hazardous environment

A modular planning/control architecture for the semi-autonom...

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conference on sensor fusion and decentralized control in Autonomous robotic systems

作者： Tarn, TJ Brady, K Xi, N Love, L Lloyd, P Burks, B Davis, H Department of Systems Science and Mathematics Washington University St. Louis MO 63130 United States Oak Ridge National Laboratory Robotics and Process Systems Division Oak Ridge TN 37831-6304 United States

ISBN: (纸本)0819426415

The Oak Ridge National Laboratory (ORNL) has demonstrated, evaluated, and deployed a telerobotic approach for the remote retrieval of hazardous and radioactive wastes from underground storage tanks. The telerobotic system, built by Spar Aerospace Ltd., is capable of dislodging and removing sludge and gravel-like wastes without endangering the human operators through contact with the environment. Working in partnership with Washington University, ORNL has implemented an Event Based Planner/Function Based Sharing control (FBSC) as an integral part of their overall telerobotic architecture. These aspects of the system enable the seamless union of the human operator and an autonomous controller in such a way to emphasize safety without any loss of performance. The cooperation between ORNL, Spar, and Washington University requires an open and modular control software architecture to enable the parallel development of various components of the system. controlShell has been used as the underlying software architecture to help meet these criteria of generality and modularity.

关键词： intelligent control semi-autonomous control teleoperation control systems

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