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Proceedings of SPIE: sensor fusion and decentralized control in robotic systems

Proceedings of SPIE: Sensor Fusion and Decentralized Control...

引用

sensor fusion and decentralized control in robotic systems IV

This Volume 3523 of the conference proceedings contains 28 papers. Topics discussed include sensor fusion and decentralized control in robotic systems, multiagents and hierachial architectures, sensor-fused navigation and perception, interfaces for augmented reality, action selection, motion coordination and control and robotic workspace and calibration.

关键词： robotics

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Satisfying action selection

Satisfying action selection

引用

conference on sensor fusion amd decentralized control in robotic systems

作者： Pirjanian, P Univ Aalborg Lab Image Anal DK-9220 Aalborg Denmark

ISBN: (纸本)0819429848

It is argued that for real-world applications action selection should be satisficing, i.e. merely 'good enough' rather than optimal. It is then demonstrated that multiple objective decision theory provides a suitable framework for formulating action selection mechanisms that are satisficing. A set of experiments demonstrate the potential advantages of the proposed action selection mechanisms.

关键词： action selection behavior-based control multiple objective decision making Pareto-optimality satisfying actions

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Information-theoretic approach to decentralized control of multiple autonomous flight vehicles

Information-theoretic approach to decentralized control of m...

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sensor fusion and decentralized control in robotic systems iii

作者： Grocholsky, Ben Durrant-Whyte, Hugh Gibbens, Peter Univ of Sydney New South Wales Australia

decentralized systems require no central controller or center where information is fused or commands generated. Information theoretic ideas have been previously used to develop optimal fusion algorithms for decentralized sensing and data fusion systems. The work described in this paper aims to develop equivalent algorithms for the control of decentralized systems. The methods and algorithms described center on the use of mutual information gain as a measure in choosing control actions. Two example problems are described;area coverage for purposes of surveillance and navigation, and sensor management for cuing and hand-off operations. The motivation for this work is the control of multiple unmanned air vehicles (UAVs).

关键词： decentralized control

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People tracking using omnidirectional vision and range information

People tracking using omnidirectional vision and range infor...

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sensor fusion and decentralized control in robotic systems IV conference

作者： Illmann, J Kluge, B Prassler, E Res Inst Appl Knowledge Proc D-89081 Ulm Germany

ISBN: (纸本)0819442992

In this paper we present two approaches for tracking of people in dynamic environments with a moving sensor system. The trajectories of persons are used to extract simple motion patterns. Object detection and tracking is based on range and color information which is provided by a laser range finder and a onmidirectional color camera. Without any predefined person-model the system acquires an internal representation of the person at an initialization phase. This representation is tracked in real-time in dynamic environments. During the tracking procedure illumination conditions axe continously monitored. The tracking approaches were implemented on a robotic wheelchair and evaluated experimentally in different dynamic environments.

关键词： omnidirectional vision color vision and range fusion people tracking

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sensor fusion and decentralized coutral in robotic systems IV

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

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sensor fusion and decentralized control in robotic systems IV

The proceedings contains 24 papers from the conference on sensor fusion and decentralized control in robotic systems IV. The topics discussed include: delayed and asequent data in decentralized sensing networks;rover localization results for the FIDO rover;performance of a distributed robotic system using shared communications channels;people tracking using omnidirectional vision and range information;development of PetRo: a modular robot for petlike applications;integrated virtual space control system utilizing hand gesture for intelligent house.

关键词： sensor data fusion

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Explaining finite state machine characteristics using variable structure control

Explaining finite state machine characteristics using variab...

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conference on sensor fusion and decentralized control in Autonomous robotic systems

作者： Feddema, JT Robinett, RD Driessen, BJ Sandia National Labs. (United States)

ISBN: (纸本)0819426415

This paper describes how variable structure control can be used to describe the overall behavior of multiple autonomous robotic vehicles with simple finite state machine rules. The importance of this result is that we can then begin to design provably asymptotically stable group behaviors from a set of simple control laws and appropriate switching points with variable structure control. The ability to prove convergence to a god is especially important for applications such as locating military targets or land mines.

关键词： finite state machine cooperative behavior robotics variable structure control sliding mode control

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Wave control: A method of distributed control for repeated unit tentacles

Wave control: A method of distributed control for repeated u...

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sensor fusion and decentralized control in robotic systems II conference

作者： Rudakevych, P IS Robotics Inc. (United States)

ISBN: (纸本)0819434329

A method is presented for distributed position control of the tip of a high degree of freedom tentacle. The scheme employs limited communications which occurs only between adjacent degrees of freedom. Total computational requirements for the tentacle are linear with the number of degrees of freedom and are distributed as identical processes at joint. An iterative approach to position control allows automatic path planning around obstacles to occur. The resulting system allows complex tasks to be performed with limited computation and sensing resources. The algorithm was used as a basis for locomotion for a mobile robot with four tentacles.

关键词： tentacle distributed control high degree of freedom

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Underwater robot society doing internal inspection and leak monitoring of water systems

Underwater robot society doing internal inspection and leak ...

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conference on sensor fusion and decentralized control in Autonomous robotic systems

作者： Halme, A Vainio, M Appelqvist, P Jakubik, P Schonberg, T Visala, A Helsinki Univ. of Technology (Finland)

ISBN: (纸本)0819426415

In the field of civil engineering an effective infernal monitoring of pipes and water storage is very problematic. Normally the sensors used for the task are either fixed or manually movable. Thus they will only provide locally and temporally restricted information. As a solution an underwater robotic sensor/actuator society is presented. The system is capable of operating inside a fluid environment as a kind of distributed sensory system. The value of the system emerges from the interactions between the members. Through a communication system the society fuses information from individual members and provides a more reliable estimate of the conditions inside water systems. Test results in a transparent demo process consisting of tanks and pipes with a volume of 700 liters are presented.

关键词： underwater robot society leak detection data fusion

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Behavioral diversity as multiagent cooperation

Behavioral diversity as multiagent cooperation

引用

sensor fusion and decentralized control in robotic systems II conference

作者： Balch, T Carnegie Mellon Univ Pittsburgh PA 15213 USA

ISBN: (纸本)0819434329

In many cases cooperation between robots is implemented using explicit, perhaps complex, coordination protocols. However, research in behavior-based multirobot systems suggests that effective cooperative teams can be composed of agents using simple individual agent behaviors with limited or no communication. In this paper we propose behavioral diversity as an alternative cooperative strategy. Behavioral diversity refers to the extent to which agents assume distinct behavioral roles in a group. By filling diverse roles the team members distribute responsibility for various components of the task. It is not always the case, however, that diversity is advantageous. Results of experiments in robotic soccer and multirobot foraging tasks indicate that the utility of diversity depends on the task. This paper describes behaviorally diverse solutions to these tasks and provides a comparison that suggests why some tasks are suited for behavioral diversity and others are not.

关键词： multiagent robotic systems cooperation diversity

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Self-calibration of eye-hand coordination system with decentralized data fusion

Self-calibration of eye-hand coordination system with decent...

引用

conference on sensor fusion and decentralized control in Autonomous robotic systems

作者： Lee, S Ro, S Schenker, P Univ. of Southern Californai and Jet Propulsion Lab. (United States) Univ. of Southern California (United States) Jet Propulsion Lab. (United States)

ISBN: (纸本)0819426415

A method of automatically reducing uncertainties and calibrating possible biases involved in sensed data and extracted features by a system based on the geometric data fusion is presented. The perception net, as a structural representation of the sensing capabilities of a system, connects features of various levels of abstraction, referred to here as logical sensors, with their functional relationships such as feature transformations, data fusions, and constraints to be satisfied. The net maintains the consistency of logical sensors based on the forward propagation of uncertainties as well as the backward propagation of constraint errors. A novel geometric data fusion algorithm is presented as a unified framework for computing forward and backward propagations through which the net achieves the self-reduction of uncertainties and self-calibration of biases. The effectiveness of the proposed method is validated through simulation.

关键词： perception net intelligent robotic architecture eye-hand system decentralized data fusion self-calibration goal-oriented behaviors planetary sampling

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