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Building a million beacon map

Building a million beacon map

引用

sensor fusion and decentralized control in robotic systems IV conference

作者： Julier, SJ Uhlmann, JK IDAK Ind Jefferson City MO 65109 USA

ISBN: (纸本)0819442992

Many future missions for mobile robots demand multi-robot systems which are capable of operating in large environments for long periods of time. A critical capability is that each robot must be able to localise itself. However, GPS cannot be used in many environments (such as within city streets, under water, indoors, beneath foliage or extra-terrestrial robotic missions) where mobile robots are likely to become commonplace. A widely researched alternative is Simultaneous Localization and Map Building (SLAM): the vehicle constructs a map and, concurrently, estimates its own position. In this paper we consider the problem of building and maintaining an extremely large map (of one million beacons). We describe a fully distributed, highly scaleable SLAM algorithm which is based on distributed data fusion systems. A central map is maintained in global coordinates using the Split Covariance Intersection (SCI) algorithm. Relative and local maps are run independently of the central map and their estimates are periodically fused with the central map.

关键词： Filtering (signal processing) Mobile robots Data fusion Algorithm development Process modeling robotic systems sensors Distributed computing Global Positioning System robotics

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Neural sensor fusion for spatial visualization on a mobile robot

Neural sensor fusion for spatial visualization on a mobile r...

引用

conference on sensor fusion amd decentralized control in robotic systems

作者： Martens, S Carpenter, GA Gaudiano, P Boston Univ Dept Cognit & Neural Syst Boston MA 02215 USA

ISBN: (纸本)0819429848

An ARTMAP neural network is used to integrate visual information and ultrasonic sensory information on a B14 mobile robot. Training samples for the neural network are acquired without human intervention. sensory snapshots are retrospectively associated with the distance to the wall, provided by on-board odometry as the robot travels in a straight line. The goal is to produce a more accurate measure of distance than is provided by the raw sensors. The neural network effectively combines sensory sources both within and between modalities. The improved distance percept is used to produce occupancy grid visualizations of the robot's environment. The maps produced point to specific problems of raw sensory information processing and demonstrate the benefits of using a neural network system for sensor fusion.

关键词： mobile robot neural network sensor fusion occupancy grid sonar range

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Comparison of state and information based sensor fusion

Comparison of state and information based sensor fusion

引用

conference on sensor fusion amd decentralized control in robotic systems

作者： Mutambara, AGO FAMU FSU Coll Engn Dept Mech Engn Tallahassee FL 32301 USA

ISBN: (纸本)0819429848

In this paper, state and information space estimation methods used in both linear and nonlinear systems are compared. General recursive estimation and in particular the Kalman filter is discussed and a Bayesian approach to probabilistic information fusion is outlined. The notion and measures of information are defined. This leads to the derivation of the algebraic equivalent of the Kalman filter, the linear information filter. The characteristics of this filter and the advantages of information space estimation are discussed. Examples are then implemented in software to illustrate the algebraic equivalence of the Kalman and Information filters. The benefits of information space are also explored in these case studies. State estimation for systems with nonlinearities is considered and the extended Kalman filter treated. Linear information space is then extended to nonlinear information space by deriving the extended information filter. This establishes all the necessary mathematical tools required for exhaustive information space estimation. The advantages of the extended information filter over the extended Kalman filter are presented and demonstrated. This extended information filter constitute an original and significant contribution to estimation theory made in this paper. Examples of systems involving both nonlinear state evolution and nonlinear observations are simulated. Thus, the algebraic equivalence of the two filters is illustrated and the benefits of nonlinear information space manifested.

关键词： estimation information filter nonlinear data fusion decentralized multisensor

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Babybot: a biologically inspired developing robotic agent

Babybot: a biologically inspired developing robotic agent

引用

conference on sensor fusion and decentralized control in robotic systems iii

作者： Metta, G Panerai, F Sandini, G Univ Genoa DIST LIRA Lab Genoa Italy

ISBN: (纸本)0819438618

The study of development either artificial or biological, can highlight the mechanisms underlying learning and adaptive behavior. We shall argue whether developmental studies might provide a different and potentially interesting perspective either on how to build an artificial adaptive agent, or on understanding how the brain solves sensory, motor, and cognitive tasks. It is our opinion that the acquisition of the proper behavior might indeed be facilitated because within an ecological context, the agent, its adaptive structure and the environment dynamically interact thus constraining the otherwise difficult "learning problem". In very general terms we shall describe the proposed approach and supporting biological related facts. In order to further analyze these aspects from the modeling point of view, we shall demonstrate how a twelve degrees of freedom "baby" humanoid robot acquires orienting and reaching behaviors, and what advantages the proposed framework might offer. In particular, the experimental setup consists of a five degrees-of-freedom (dof) robot head, and an off-the-shelf six dof robot manipulator, both mounted on a rotating base: i.e. the torso. From the sensory point of view, the robot is equipped with two space-variant cameras, an inertial sensor simulating the vestibular system, and proprioceptive information through motor encoders. The biological parallel is exploited at many implementation levels. It is worth mentioning, for example, the space-variant eyes, exploiting foveal and peripheral vision in a single arrangement, the inertial sensor providing efficient image stabilization (vestibulo-ocular reflex).

关键词： biomimetic robotics learning development sensori-motor coordination

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Autonomous multirover system for complex planetary surface retrieval operations

Autonomous multirover system for complex planetary surface r...

引用

conference on sensor fusion and decentralized control in Autonomous robotic systems

作者： Huntsberger, T Univ. of South Carolina (United States)

ISBN: (纸本)0819426415

As the complexity of the missions to planetary surfaces increases, so too does the need for autonomous operation of the rover systems. This is coupled with the power, weight and computer storage restrictions on such systems.(26) This paper presents a multirover system that is capable of cooperative planetary surface retrieval operations such as a multiple cache recovery mission to Mars. The system employs autonomous navigation, and is coupled through a low bandwidth communication channel. Wie also report the results of some experimental studies in simulated multiple cache retrieval operations in planetary environments.

关键词： cooperative rovers behavior-based control wavelets neural networks

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Integration of camera and range sensors for 3D pose estimation in robot visual servoing

Integration of camera and range sensors for 3D pose estimati...

引用

conference on sensor fusion amd decentralized control in robotic systems

作者： Hulls, CCW Wilson, WJ Univ Waterloo Dept Elect & Comp Engn Waterloo ON N2L 3G1 Canada

ISBN: (纸本)0819429848

Range-vision sensor systems can incorporate range images or single point measurements. Research incorporating point range measurements has focused on the area of map generation for mobile robots. These systems can utilize the fact that the objects sensed tend to be large and planar. The approach presented in this paper fuses information obtained from a point range measurement with visual information to produce estimates of the relative 3D position and orientation of a small, non-planar object with respect to a robot end-effector. The paper describes a real-time sensor fusion system for performing dynamic visual servoing using a camera and a point laser range sensor. The system is based upon the object model reference approach. This approach, which can be used to develop multi-sensor fusion systems that fuse dynamic sensor data from diverse sensors in real-time, uses a description of the object to be sensed in order to develop a combined observation-dependency sensor model. The range-vision sensor system is evaluated in terms of accuracy and robustness. The results show that the use of a range sensor significantly improves the system performance when there is poor or insufficient camera information. The system developed is suitable for visual servoing applications, particularly robot assembly operations.

关键词： sensor fusion vision pose estimation robot control

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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

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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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Real time distributed map building in large environments

Real time distributed map building in large environments

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conference on sensor fusion and decentralized control in robotic systems iii

作者： Julier, SJ Uhlmann, JK Naval Research Lab. (United States) Univ. of Missouri/Columbia (United States)

ISBN: (纸本)0819438618

Many of the future missions for mobile robots demand multi-robot systems which are capable of operating in large environments for long periods of time. One of the most critical capabilities is the ability to localize - a mobile robot must be able to estimate its own position and to consistently transmit this information to other robots and control sites. Although state-of-the-art GPS is capable of yielding unmatched performance over large areas, it is not applicable in many environments (such as within city streets, under water, indoors, beneath foliage or extra-terrestrial robotic missions) where mobile robots are likely to become commonplace. A widely researched alternative is Simultaneous Localization and Map Building (SLAM): the vehicle constructs a map and, concurrently, estimates its own position. However, most approaches are non-scalable (the storage and computational costs vary quadratically and cubically with the number of beacons in the map) and can only be used with multiple robotic vehicles with a great degree of difficulty. In this paper, we describe the development of a scalable, multiple-vehicle SLAM system. This system, based on the Covariance Intersection algorithm, is scalable - its storage and computational costs are linearly proportional to the number of beacons in the map. Furthermore, it is scalable to multiple robots - each has complete freedom to exchange partial or full map information with any other robot at any other time step. We demonstrate the real-time performance of this system in a scenario of 15,000 beacons.

关键词： Robots Mobile robots sensors Algorithm development Process modeling Data fusion Filtering (signal processing) robotics Computing systems robotic systems

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