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Proceedings: 2002 IEEE International conference on robotics and Automation

Proceedings: 2002 IEEE International Conference on Robotics ...

引用

2002 IEEE International conference on robotics and Automation

This Volume 2 of 4 of the conference proceedings contains 179 papers. Topics discussed include underwater robots, internet automation, micro locomotion, parallel robots, telerobotics, distributed manipulation, vision processing, haptic perception, learning, manipulator control, autonomous agents, localization, humanoid robots, biomedical robotics, automation applications, micro assembly, hyper-redundant robots, skill acquisition, grasping, visual servo control, tactile sensing, sensor based planning, force control, nonholonomic robots, sensor fusion, self-localization and map building, surgical robots, Petri nets, human robot interactions, manipulation, visually guided mobility, haptics in medicine, probabilistic roadmaps, fuzzy logic control and internet robotics.

关键词： robotics

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Complying with the rules of Asimov

Complying with the rules of Asimov

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5th conference on Professional Knowledge Management, WM 2009

作者： Ackermann, Renate Luise Dürenstr. 29 D - 53173 Bonn Germany

ISBN: (纸本)9783885792390

Social systems are calling attention to adequate sets of rules as e.g. to comply with the rules of Asimov as a codex [BF05]. In the context of Multiple sensor Data fusion (MSDF) a variety of interacting (logical) sensor agents might autonomously self-organize their part of complex tasks' organizational solution processes due to co-operations, communications and co-ordinations. Even computational participants might change (or be changed in) their role according to the open distributed system's organization's needs, the environmental changes, or decisions on their own, e.g. temporarily, as a guide being guided, as a chasing entity being chased, or as a member of a coordination being independent. The goal of this paper is to exemplary discuss the rules (chosen of some divisions of modern robotics) and a derivative set to accomplish the model AIKM [Ac08] in the concern of security and safety taking the knowledge distance as a key-factor focusing decisions, divergent trends, a.o.

关键词： sensor data fusion

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FlightGoggles: Photorealistic sensor Simulation for Perception-driven robotics using Photogrammetry and Virtual Reality

FlightGoggles: Photorealistic Sensor Simulation for Percepti...

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IEEE/RSJ International conference on Intelligent Robots and Systems (IROS)

作者： Guerra, Winter Tal, Ezra Murali, Varun Ryou, Gilhyun Karaman, Sertac MIT Lab Informat & Decis Syst LIDS Cambridge MA 02139 USA

ISBN: (纸本)9781728140049

FlightGoggles is a photorealistic sensor simulator for perception-driven robotic vehicles. The key contributions of FlightGoggles are twofold. First, FlightGoggles provides photorealistic exteroceptive sensor simulation using graphics assets generated with photogrammetry. Second, it provides the ability to combine (i) synthetic exteroceptive measurements generated in silico in real time and (ii) vehicle dynamics and proprioceptive measurements generated in motio by vehicle(s) in flight in a motion-capture facility. FlightGoggles is capable of simulating a virtual-reality environment around autonomous vehicle(s) in flight. While a vehicle is in flight in the Flight-Goggles virtual reality environment, exteroceptive sensors are rendered synthetically in real time while all complex dynamics are generated organically through natural interactions of the vehicle. The FlightGoggles framework allows for researchers to accelerate development by circumventing the need to estimate complex and hard-to-model interactions such as aerodynamics, motor mechanics, battery electrochemistry, and behavior of other agents. The ability to perform vehicle-in-the-loop experiments with photorealistic exteroceptive sensor simulation facilitates novel research directions involving, e.g., fast and agile autonomous flight in obstacle-rich environments, safe human interaction, and flexible sensor selection. FlightGoggles has been utilized as the main test for selecting nine teams that will advance in the AlphaPilot autonomous drone racing challenge. We survey approaches and results from the top AlphaPilot teams, which may be of independent interest. FlightGoggles is distributed as open-source software along with the photorealistic graphics assets for several simulation environments, under the MIT license at http://***.

关键词： Photogrammetry

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AIAA Infotech @ Aerospace conference, 2015

AIAA Infotech @ Aerospace Conference, 2015

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AIAA Infotech @ Aerospace 2015

ISBN: (纸本)9781624103384

The proceedings contain 114 papers. The special focus in this conference is on Infotech and Aerospace. The topics include: Human agent interfaces as a key element for the dialog between human crews and cognitive automation;a constrained Markov decision process framework for flight safety assessment and management;signal source localization using partially observable Markov decision processes;adaptive algorithms for autonomous data ferrying in nonstationary environments;adaptive linear quadratic Gaussian optimal control modification for flutter suppression of adaptive wing;performance oriented adaptive architectures with guaranteed bounds;demand-side energy management using an adaptive control strategy for aggregate thermostatic loads;Bayesian modeling for decentralized UAV control and task allocation;consensus based heuristic algorithm for distributed sensor management;autonomous flight path planning for traffic monitoring in wireless sensor networks;a constrained altruistic method for balancing tracking responsibility in a distributed fusion network;decentralized message passing for minimum sensor cover based on belief propagation;coordinating groups of sensing platforms in dynamic, uncertain environments;an intelligent, heuristic path planner for multiple agent unmanned air systems;surveillance for intelligent emergency response robotic aircraft;abnormal orbital event detection, characterization, and prediction;GPS scintillation outage prediction;helicopter mission assignment in disaster relief based on particle swarm optimization;a scented receding horizon approach to the mars surveyor competition and a cascading fuzzy logic controller to the mars surveyor competition.

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16th International Symposium on distributed Autonomous robotic Systems, DARS 2022

16th International Symposium on Distributed Autonomous Robot...

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16th International Symposium on distributed Autonomous robotic Systems, DARS 2022

ISBN: (纸本)9783031514968

The proceedings contain 39 papers. The special focus in this conference is on distributed Autonomous robotic Systems. The topics include: Outlining the Design Space of eXplainable Swarm (xSwarm): Experts’ Perspective;VMAS: A Vectorized Multi-agent Simulator for Collective Robot Learning;FLAM: Fault Localization and Mapping;social Exploration in Robot Swarms;stochastic Nonlinear Ensemble Modeling and Control for Robot Team Environmental Monitoring;a Decentralized Cooperative Approach to Gentle Human Transportation with Mobile Robots Based on Tactile Feedback;sparse Sensing in Ergodic Optimization;distributed Multi-robot Tracking of Unknown Clustered Targets with Noisy Measurements;a Force-Mediated Controller for Cooperative Object Manipulation with Independent Autonomous Robots;a distributed Architecture for Onboard Tightly-Coupled Estimation and Predictive Control of Micro Aerial Vehicle Formations;search Space Illumination of Robot Swarm Parameters for Trustworthy Interaction;Collective Gradient Following with sensory Heterogeneous UAV Swarm;DAN: Decentralized Attention-Based Neural Network for the MinMax Multiple Traveling Salesman Problem;receding Horizon Control on the Broadcast of Information in Stochastic Networks;Adaptation Strategy for a distributed Autonomous UAV Formation in Case of Aircraft Loss;DGORL: distributed Graph Optimization Based Relative Localization of Multi-robot Systems;characterization of the Design Space of Collective Braitenberg Vehicles;decision-Making Among Bounded Rational agents;distributed Multi-robot Information Gathering Using Path-Based sensors in Entropy-Weighted Voronoi Regions;distributed Multiple Hypothesis Tracker for Mobile sensor Networks;distributed Multirobot Control for Non-cooperative Herding;on Limited-Range Coverage Control for Large-Scale Teams of Aerial Drones: Deployment and Study;MARLAS: Multi Agent Reinforcement Learning for Cooperated Adaptive Sampling;proportional Control for Stochastic Regulation on Allocation

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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...

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IEEE International conference on robotics and Biomimetics

作者： Youdong Chen Jiawei Yang Yong Zhong Shien-Ming Wu School of Intelligent Engineering South China University of Technology Guangzhou China

ISBN: (纸本)9781665405362

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 Biological system modeling Robot vision systems Tail sensor fusion Fish Robot sensing systems

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distributed privacy-preserving network size computation: A system-identification based method

Distributed privacy-preserving network size computation: A s...

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52nd IEEE Annual conference on Decision and Control (CDC)

作者： Garin, Federica Yuan, Ye INRIA Grenoble NeCS Team Rhone Alpes France Univ Cambridge Dept Engn Cambridge CB2 1TN England

ISBN: (纸本)9781467357173

In this study, we propose an algorithm for computing the network size of communicating agents. The algorithm is distributed: a) it does not require a leader selection;b) it only requires local exchange of information, and;c) its design can be implemented using local information only, without any global information about the network. It is privacy-preserving, namely it does not require to propagate identifying labels. This algorithm is based on system identification, and more precisely on the identification of the order of a suitably-constructed discrete-time linear time-invariant system over some finite field. We provide a probabilistic guarantee for any randomly picked node to correctly compute the number of nodes in the network. Moreover, numerical implementation has been taken into account to make the algorithm applicable to networks of hundreds of nodes, and therefore make the algorithm applicable in real-world sensor or robotic networks. We finally illustrate our results in simulation and conclude the paper with discussions on how our technique differs from a previously-known strategy based on statistical inference.

关键词： Linear time-invariant system

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Surface-based registration of liver in ultrasound and CT

Surface-based registration of liver in ultrasound and CT

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conference on Medical Imaging - Image-Guided Procedures, robotic Interventions, and Modeling

作者： Dehghan, Ehsan Lu, Kongkuo Yan, Pingkun Tahmasebi, Amir Xu, Sheng Wood, Bradford J. Abi-Jaoudeh, Nadine Venkatesan, Aradhana Kruecker, Jochen Philips Res North Amer Briarcliff Manor NY 10510 USA NIH Dept Radiol Bethesda MD 20892 USA NIH Imaging Sci Clin Ctr Bethesda MD 20892 USA

ISBN: (纸本)9781628415056

Ultrasound imaging is an attractive modality for real-time image-guided interventions. fusion of US imaging with a diagnostic imaging modality such as CT shows great potential in minimally invasive applications such as liver biopsy and ablation. However, significantly different representation of liver in US and CT turns this image fusion into a challenging task, in particular if some of the CT scans may be obtained without contrast agents. The liver surface, including the diaphragm immediately adjacent to it, typically appears as a hyper-echoic region in the ultrasound image if the proper imaging window and depth setting are used. The liver surface is also well visualized in both contrast and non-contrast CT scans, thus making the diaphragm or liver surface one of the few attractive common features for registration of US and non-contrast CT. We propose a fusion method based on point-to-volume registration of liver surface segmented in CT to a processed electromagnetically (EM) tracked US volume. In this approach, first, the US image is pre-processed in order to enhance the liver surface features. In addition, non-imaging information from the EM-tracking system is used to initialize and constrain the registration process. We tested our algorithm in comparison with a manually corrected vessel-based registration method using 8 pairs of tracked US and contrast CT volumes. The registration method was able to achieve an average deviation of 12.8mm from the ground truth measured as the root mean square Euclidean distance for control points distributed throughout the US volume. Our results show that if the US image acquisition is optimized for imaging of the diaphragm, high registration success rates are achievable.

关键词： Multi-modality fusion image registration liver-diaphragm surface image-guided intervention ultrasound computed tomography electromagnetic tracking

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Adversarial Machine Learning and Adversarial Risk Analysis in Multi-Source Command and Control 30

Adversarial Machine Learning and Adversarial Risk Analysis i...

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

作者： Caballero, William N. Friend, Mark Blasch, Erik Air Force Inst Technol Dept Operat Sci Wright Patterson AFB OH 45433 USA European Off Aerosp Res & Dev London England Air Force Off Sci Res Washington DC USA

ISBN: (数字)9781510643505

ISBN: (纸本)9781510643505

Over the last decade, various defense and security agencies have focused on methods of data and information fusion across multiple domains (e.g., space, air, land, sea, undersea, cyber, and information). Researchers and practitioners in these communities are currently emphasizing the importance of information warfare, algorithmic warfare, joint all domain operations, and multi-source availability. A related development extending from the data analytics community is adversarial machine learning (AML), i.e., the study of attacking and defending machine learning algorithms. It is generally the case in AML for a single algorithm to be considered. However, AML research regarding multi-source data manipulation is less developed because it compounds the challenges typically addressed. That is, attacks must be perceived over numerous information streams and their effects mitigated accordingly, often across multiple algorithms. This challenge is further complicated in multi-domain applications characterized by distributed control wherein agents have distinct capabilities (e.g., people or technological tools);the AML approaches required for operator infusion, information fusion, and control diffusion likely vary across each actor. Noting these challenges, this manuscript reviews command and control constructs, surveys related literature, and explores opportunities for adversarial risk analysis, a decision-theoretic alternative to game theory, to address AML in multi-source command and control settings.

关键词： Adversarial Machine Learning Information fusion Joint All Domain Operations Joint All Domain Command and Control Adversarial Risk Analysis

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Recursive Total Variation Filtering Based 3D fusion

Recursive Total Variation Filtering Based 3D Fusion

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13th International Joint conference on e-Business and Telecommunications (ICETE)

作者： Rajput, M. A. A. Funk, E. Boerner, A. Hellwich, O. German Aerosp Ctr Inst Opt Sensor Syst Dept Informat Proc Opt Syst Berlin Germany Tech Univ Berlin Comp Vis & Remote Sensing Berlin Germany

ISBN: (纸本)9789897581960

3D reconstruction from mobile image sensors is crucial for many offline-inspection and online robotic application. While several techniques are known today to deliver high accuracy 3D models from images via offline-processing, 3D reconstruction in real-time remains a major goal still to achieve. This work focuses on incremental 3D modeling from error prone depth image data, since standard 3D fusion techniques are tailored on accurate depth data from active sensors such as the Kinect. Imprecise depth data is usually provided by stereo camera sensors or simultaneous localization and mapping (SLAM) techniques. This work proposes an incremental extension of the total variation (TV) filtering technique, which is shown to reduce the errors of the reconstructed 3D model by up to 77% compared to state of the art techniques.

关键词： Large Scale Automated 3D Modelling Mobile robotics Efficient Data Structures 3D Database

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