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

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sensor fusion and decentralized control in robotic systems iii : 6-8 November, 2000, Boston, [Mas...

Sensor fusion and decentralized control in robotic systems I...

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2000年

作者： Gerard T. Mckee Paul S. Schenker chairs/editors sponsored and published by SPIE--the Internat...

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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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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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Development of a self-reconfigurable modular robotic system

Development of a self-reconfigurable modular robotic system

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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.

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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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Fully connected decentralized estimation

Fully connected decentralized estimation

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conference on sensor fusion and decentralized control in Autonomous robotic systems

作者： Mutambara, AGO Florida State Univ. (United States)

ISBN: (纸本)0819426415

This paper addresses the multisensor estimation problem for both linear and nonlinear systems in a fully connected decentralized sensing architecture. The sensor data fusion problem is identified and the case for decentralized arhitectures, rather than hierarchical or centralized ones, is made. Fully connected decentralized estimation algorithms in both state and information spaces are then developed. The intent is to show that decentralized estimation is feasible and to demonstrate the advantages of information space over state space. The decentralization procedure is then repeated for the extended Kalman filter and extended information filter to produce decentralized filters for nonlinear systems. The four filters are compared and contrasted. In appraising the algorithms the problems associated with the requirement for a fully connected topology are identified.

关键词： estimation information filter decentralized multisensor data fusion

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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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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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CAMPOUT: A control architecture for multi-robot planetary outposts

CAMPOUT: A control architecture for multi-robot planetary ou...

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conference on sensor fusion and decentralized control in robotic systems iii

作者： Pirjanian, P Huntsberger, TL Trebi-Ollennu, A Aghazarian, H Das, H Joshi, SS Schenker, PS CALTECH Jet Prop Lab Pasadena CA 91109 USA

ISBN: (纸本)0819438618

A manned Mars habitat will require a significant amount of infrastructure that can be deployed using robotic precursor missions. This infrastructure deployment will probably include the use of multiple, heterogeneous, mobile robotic platforms. Delays due to the long communication path to Mars limit the amount of teleoperation that is possible. A control architecture called CAMPOUT (control Architecture for Multirobot Planetary Outposts) is currently under development at the Jet Propulsion Lab in Pasadena, CA. It is a three layer behavior-based system that incorporates the low level control routines currently used on the JPL SRR/FIDO/LEMUR revers. The middle behavior layer uses either the BISMARC (Biologically Inspired System for Map based Autonomous Rover control) or MOBC (Multi-Objective Behavior control) action selection mechanisms. CAMPOUT includes the necessary group behaviors and communication mechanisms for coordinated/cooperative control of heterogeneous robotic platforms. We report the results of some ongoing work at the Jet Propulsion Lab in Pasadena, CA on the transport phase of a photovoltaic (PV) tent deployment mission.

关键词： behavior-based control multiple mobile robots robot outposts

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