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检索条件"任意字段=Conference on Sensor Fusion and Distributed Robotic Agents"

共 371 条记录，以下是11-20 订阅

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Ultrasonic data fusion as a function of robot velocity

Ultrasonic data fusion as a function of robot velocity

引用

conference on sensor fusion and distributed robotic agents

作者： Murphy, RR Gomes, K Hershberger, D Colorado School of Mines (United States)

ISBN: (纸本)0819423076

Occupancy grids are a common representation for mobile robot activities such as obstacle avoidance, map making, localization, and place recognition. An important issue is how to accurately update the grid with new sensor readings rapidly enough to support real-time navigation. The HIMM/VFH methodology works wells for a robot navigating at high speeds, but the algorithms show poor performance at lower speeds in cluttered areas. Our approach to overcoming these deficiencies is twofold. First, Dempster-Shafer theory is used for fusion because it provides a well-understood updating scheme and has been demonstrated to have additional desirable properties. Second, the number of grid elements updated varies as a function of the robot's velocity Experiments using with Clementine, a Denning-Branch MRV4 mobile robot, demonstrate that varying the beam width with the velocity of the robot improves the updating of an occupancy grid using Dempster-Shafer theory versus that of HIMM. Furthermore, the Dempster-Shafer method tends to handle noise better and make smoother and more realistic maps.

关键词： mobile robots occupancy grid map making ultrasonics sensor fusion Dempster-Shafer

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System wide joint position sensor fault tolerance in robot systems using Cartesian accelerometers

System wide joint position sensor fault tolerance in robot s...

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conference on sensor fusion and distributed robotic agents

作者： Aldridge, HA Juang, JN NASA Langley Research Ctr. (United States)

ISBN: (纸本)0819423076

Joint position sensors ate necessary for most robot control systems. A single position sensor failure in a normal robot system can greatly degrade performance. This paper presents a method to obtain position information from Cartesian accelerometers without integration. Depending on the number and location of the accelerometers, the proposed system can tolerate the loss of multiple position sensors. A solution technique suitable for real-time implementation is presented Simulations were conducted using 5 triaxial accelerometers to recover from the loss of up to 4 joint position sensors on a 7 degree of freedom robot moving in general three dimensional space. The simulations show good estimation performance using non-ideal accelerometer measurements.

关键词： robot control fault tolerance position sensor accelerometer

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A framework for implementing self-organising task-oriented multi-sensor networks

A framework for implementing self-organising task-oriented m...

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conference on sensor fusion amd Decentralized Control in robotic Systems

作者： Scheering, C Knoll, A Univ Bielefeld Fac Technol D-33501 Bielefeld Germany

ISBN: (纸本)0819429848

Advanced manipulation skills that enable cooperating robots in a work cell to recognise, handle and assemble arbitrarily placed objects require sensory information on both the environment and assembly process. Using standard approaches it becomes difficult to coordinate sensor usage and data fusion under a given task when the number of sensors becomes large or is changed during run-time. We present a solution to both coordination and fusion based on the multi (sensor) agent paradigm: each agent implements a sensory skill, a negotiation protocol and a physical communication interface to all other agents. Within this sensor-network teams cooperate on a common task. They are formed dynamically after a negotiation phase following a specific task formulation. Our framework consists of a formal specification of the requirements that the sensory skill of an agent has to meet and a comprehensive library of (C++)-objects encapsulating all of the negotiation protocol and communications. This separation makes it very easy to implement individual sensory skills. We show how the abstract concepts of this approach and the metaphor of "negotiation" work in a real-world network: several uncalibrated cameras are used to guide a manipulator towards a target. We also show how agent-teams may easily (self-)reconfigure during task execution in the case of unexpected events. The framework is distributed free of charge and can be obtained over the Internet at http://***.

关键词： multi-sensor network distributed sensing sensor-fusion multi-agents uncalibrated visual servoing contract net

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Quality-of-service guarantees using positioning information in a wireless distributed environment

Quality-of-service guarantees using positioning information ...

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conference on sensor fusion and distributed robotic agents

作者： Lumpp, JE Yavatkar, R Griffioen, JN Seales, WB Univ. of Kentucky (United States)

ISBN: (纸本)0819423076

This paper describes a system to support a wireless vision platform moving within a large space spanned by multiple wireless cells. The system offers a cost effective and scalable design for a distributed active vision system consisting of mobile cameras, a compute cluster of high-performance workstations interconnected by a high bandwidth network, and a wireless network divided into distinct cells that connects mobile platforms with the computing cluster. Position information available at the mobile platforms (e.g., via the NAVSTAR global positioning (GPS) system) together with our ''position-aware'' vision algorithms, and routing protocol ensures continuous quality-of-service (QoS) as the mobile platforms move from cell to cell. This paper extends a real-time QoS communication protocol developed in our earlier work(3) to provide continuous quality of service. We also present vision algorithms that minimize the hardware needed on the mobile platforms using the GPS position information and by off-loading computation to the compute cluster.

关键词： active stereo vision focus multimedia protocols wireless communication compressed video

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Biobotic Insect Swarm based sensor Networks for Search and Rescue

Biobotic Insect Swarm based Sensor Networks for Search and R...

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conference on Signal Processing, sensor/Information fusion, and Target Recognition XXIII

作者： Bozkurt, Alper Lobaton, Edgar Sichitiu, Mihail Hedrick, Tyson Latif, Tahmid Dirafzoon, Alireza Whitmire, Eric Verderber, Alexander Marin, Juan Xiong, Hong North Carolina State Univ Dept Elect & Comp Engn Raleigh NC 27695 USA Univ N Carolina Dept Biol Chapel Hill NC 27599 USA Middle Creek High Sch Apex NC 27539 USA

ISBN: (纸本)9781628410280

The potential benefits of distributed robotics systems in applications requiring situational awareness, such as search-and-rescue in emergency situations, are indisputable. The efficiency of such systems requires robotic agents capable of coping with uncertain and dynamic environmental conditions. For example, after an earthquake, a tremendous effort is spent for days to reach to surviving victims where robotic swarms or other distributed robotic systems might play a great role in achieving this faster. However, current technology falls short of offering centimeter scale mobile agents that can function effectively under such conditions. Insects, the inspiration of many robotic swarms, exhibit an unmatched ability to navigate through such environments while successfully maintaining control and stability. We have benefitted from recent developments in neural engineering and neuromuscular stimulation research to fuse the locomotory advantages of insects with the latest developments in wireless networking technologies to enable biobotic insect agents to function as search-and-rescue agents. Our research efforts towards this goal include development of biobot electronic backpack technologies, establishment of biobot tracking testbeds to evaluate locomotion control efficiency, investigation of biobotic control strategies with Gromphadorhina portentosa cockroaches and Manduca sexta moths, establishment of a localization and communication infrastructure, modeling and controlling collective motion by learning deterministic and stochastic motion models, topological motion modeling based on these models, and the development of a swarm robotic platform to be used as a testbed for our algorithms.

关键词： Insect biobots Seach and rescue Neural engineering Swarm robotics Topological mapping sensor networks

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EKF-based adaptive sampling with mobile robotic sensor nodes

EKF-based adaptive sampling with mobile robotic sensor nodes

引用

IEEE/RSJ International conference on Intelligent Robots and Systems

作者： Popa, D. O. Mysorewala, M. F. Lewis, F. L. Univ Texas Arlington Automat & Robot Res Inst Ft Worth TX 76019 USA

ISBN: (纸本)9781424402588

The use of robotics in environmental monitoring applications requires distributed sensor systems optimized for effective estimation of relevant models subject to energy and environmental constraints. The mobile robot nodes are agents facilitating the repositioning of sensors in order to estimate a field distribution. This field distribution could be, for instance, water salinity in a lake, or air pollution over an industrial area. Each mobile robot node is characterized by sensor measurement noise in addition to localization uncertainty. This paper addresses an important problem for the robotic deployment of sensor networks, namely adaptive sampling (AS) by selection and repositioning of nodes in order to optimally estimate the parameters of distributed variable field models. The AS problem is posed as a sensor fusion problem within the Extended Kalman Filter (EIKF) framework We present simulation and experimental results of 2D deployment scenarios using low-cost mobile sensor robots developed in our lab.

关键词： adaptive sampling sensor fusion Kalman filter environmental monitoring

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Construction of sensor network system for human behavior measurement and accumulation via distributed objects

Construction of sensor network system for human behavior mea...

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sensor fusion and Decentralized Control in robotic Systems IV conference

作者： Mori, T Noguchi, H Sato, T Univ Tokyo Grad Sch Informat Sci & Technol Dept Mechanoinformat Bunkyo Ku Tokyo 1138656 Japan

ISBN: (纸本)0819442992

This paper describes construction of sensor network system for human behavior measurement and accumulation in a room. The network system consists of three layers: a sensing layer, a process layer and integration layer. It is capable of distributed processing in each module which is a group of several sensors. The implemented system of "robotic Room 2" based on distributed objects allows not only easy integration and accumulation of sensor information but also parallel execution of both integrated measurement and accumulation system.

关键词： human behavior measurement sensor network distributed objects

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Target Tracking Strategy of robotic Fish Based on Multi-sensor distributed Detection Information fusion

Target Tracking Strategy of Robotic Fish Based on Multi-Sens...

引用

IEEE International conference on robotics and Biomimetics (IEEE ROBIO)

作者： Chen, Youdong Yang, Jiawei Zhong, Yong South China Univ Technol Sch Intellingent Engn Guangzhou Peoples R China

ISBN: (纸本)9781665405355

Target tracking for robotic fish is always challenging due to complex fluid dynamics and inherent yaw instability. This paper introduces the design of the robotic fish and presents the target tracking strategy of the robotic fish based on multi-sensor distributed detection information fusion. The robotic fish adopts a semi-sealed design, which is composed of three parts: a rigid head, a wired-driven active body, and a compliant tail. An improved CPG model is utilized for robotic fish to imitate the rhythmic movement of real fish. Instead of using cameras and other expensive sensors, we adopt a low-cost infrared sensor with scarce sensing information as the primary sensor. And then, the target tracking strategy is based on multi-sensor distributed detection information fusion by analyzing and combining the information of two adjacent consecutive moments of the sensors. Finally, several sets of experiments are conducted to verify the effectiveness and robustness of the target tracking strategy.

关键词： Target tracking

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Mobile Agent-based Remote Vision sensor fusion

Mobile Agent-based Remote Vision Sensor Fusion

引用

IEEE/ASME International conference on Mechatronic and Embedded Systems and Applications

作者： Nestinger, Stephen S. Ko, David Rumer, Alex Cheng, Harry H. Univ Calif Davis Dept Mech & Aeronaut Engn Davis CA 95616 USA

ISBN: (纸本)9781424423675

Vision systems have become popular for remote vision sensing in geographically distributed environments due to vast amount of information they provide. However, remote vision sensors are generally plagued with power and communication bandwidth constraints. Mobile agent technology is a salient solution to geographically distributed and dynamic domains that require subsystems to interact with each other. Mobile agent technology increases power efficiency by reducing communication requirements and increases fusion processing by allowing in-situ integration of on-demand visual processing and analysis algorithms. A mobile agent can dynamically migrate from one vision sensor to another and combine all necessary sensor data in a desired manner specific to the system requesting the data. This paper presents a remote vision fusion architecture based on mobile agent technology that provides a flexible vision fusion solution. The architecture utilizes the Mobile-C library as a basis for the mobile agency along with OpenCV and ImageMagick for vision processing and manipulation. An application example is provided that demonstrates the benefit of using mobile agents for vision fusion in remote vision systems. The validity of the architecture is proven in an experimental setup with a retrofitted robotic cell comprised of a Puma 560, IBM 7575, a conveyor system, and a vision system.

关键词： computer vision Mobile agents vision sensors fusion Remote Building construction ARCHITECTURE visual processing sensor Data SUB-SYSTEM Vision processes

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Machine perception and intelligent control architecture for multi-robot coordination based on biological principals

Machine perception and intelligent control architecture for ...

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conference on sensor fusion and distributed robotic agents

作者： Thomopoulos, SCA Braught, G INTELNET Inc. (United States)

ISBN: (纸本)0819423076

Intelligent control, inspired by biological and AI (artificial intelligence) principles, has increased the understanding of controlling complex processes without precise mathematical model of the controlled process. Through customized applications, intelligent control has demonstrated that it is a step in the right direction. However, intelligent control has yet to provide a complete solution to the problem of integrated manufacturing systems via intelligent reconfiguration of the robotics systems. The aim of this paper is to present an intelligent control architecture and design methodology based on biological principles that govern self-organization of autonomous agents. Two key structural elements of the proposed control architecture have been tested individually on key pilot applications and shown promising results. The proposed intelligent control design is inspired by observed individual and collective biological behavior in colonies of living organisms that are capable of self-organization into groups of specialized individuals capable of collectively achieving a set of prescribed or emerging objectives. The nervous and brain system in the proposed control architecture is based on reinforcement learning principles and conditioning and modeled using adaptive neurocontrollers. Mathematical control theory (e.g. optimal control, adaptive control, and neurocontrol) is used to coordinate the interactions of multiple robotics agents.

关键词： robotics Robots Control systems sensors Nervous system Adaptive control Mathematical modeling Process control robotic systems Manufacturing

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