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conference on sensor fusion and Decentralized Control in Autonomous robotic Systems

作者： McKee, GT Schenker, PS Univ. of Reading (United Kingdom) Jet Propulsion Lab. (United States)

ISBN: (纸本)0819426415

This paper explores the design of robot systems to lake advantage of non-linear dynamic systems models, specifically symmetry breaking phenomena, to self-organise in response to task and environment demands. Recent research in the design of robotics systems has stressed modular, adaptable systems operating under decentralised acid distributed control architectures. Cooperative and emergent behavioural structures can be built on these modules by exploiting various forms of communication acid negotiation strategies. We focus on the design of individual modules and their cooperative interaction. We draw on nonlinear dynamic system models of human and animal behaviour to motivate issues in the design of robot modules and systems. Sonar sensing systems comprising a ring of sonar sensors are used to illustrate the Ideas within a networked robotics context, where distributed sensing modules located on multiple robots can interact cooperatively to scan an environment.

关键词： cooperative robots nonlinear dynamical systems symmetry sonar sensing

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Intelligent robotic sensor agents for environment monitoring

Intelligent Robotic Sensor Agents for environment monitoring

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IEEE International Symposium on Virtual and Intelligent Measurement Systems

作者： Petriu, EM Patry, GG Whalen, TE Al-Dhaher, A Groza, VZ Univ Ottawa Ottawa ON K1N 6N5 Canada

ISBN: (纸本)0780373448

This paper discusses development aspects of a wireless network of mobile autonomous robotic Intelligent sensor agents deployed in the field for active investigation of multiple environmental parameters. The collected sensor data are fused in a world model, which is available to remote human supervisors as an interactive virtual Virtualized Reality(TM) environment model.

关键词： intelligent sensors mobile agents distributed sensor networks wireless sensors multi-sensor data fusion behavior-based robots Virtualized Reality(TM) human computer interaction

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Point-and-click objective specification for a remote, semiautonomous robot system

Point-and-click objective specification for a remote, semiau...

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conference on sensor fusion and distributed robotic agents

作者： Seelinger, M GonzalezGalvan, E Skaar, SB Robinson, M Univ. of Notre Dame (United States)

ISBN: (纸本)0819423076

The paper is directed toward describing a practical new means by which a remote user can, with a single image of the object surface of interest, specify objectives of a task which may be described in terms of positioning particular tool junctures relative to user-specified surface points. Also included in the paper is a robust means by which an uncalibrated, remote system - consisting of a manipulator, two or more cameras, and a pan/tilt-mounted laser pointer - may be used to carry out the maneuver with very high precision and reliability. This means is based upon the method of ''camera-space manipulation'', wherewith use is made of a conveniently located but uncalibrated laser pointer. The laser pointer is placed upon an uncalibrated, autonomously actuated, pan/tilt unit, and is used to create the compatible maneuver objectives in participating remote cameras, as required by camera-space manipulation. The paper discusses the range of tasks which should be achievable with the paradigm under discussion, as well as some comparisons between this paradigm and alternatives such as teleoperation and virtual-reality-based approaches. Finally, results from several experimental implementations of the method are presented.

关键词： Cameras Calibration Imaging systems Etching Reliability robotic systems Data modeling Kinematics Computing systems robotics

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Object oriented methods for modular robotic systems

Object oriented methods for modular robotic systems

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sensor fusion and distributed robotic agents

作者： Fryer, James A. McKee, Gerard T. University of Reading Department of Computer Science Reading RG6 6AY United Kingdom

Object orientation has been widely used in the development of robotic systems for its benefits of modularity and reusability. Modular robotics systems are designed to be flexible, reusable, easily extendible sets of robotic resources that may be structured in various fashions to solve tasks. We describe the role of object oriented methods in the development of a modular robotic system and show how such a system supports collaborative working through a networked laboratory environment. We present an architectural framework for modular robotics, which employs and emphasizes object oriented techniques. ©2005 Copyright SPIE - The International Society for Optical Engineering.

关键词： Reusability

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Recent results on distributed object recognition

Recent results on distributed object recognition

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sensor fusion and Decentralized Control in robotic Systems II conference

作者： Kone, Z Rus, D Weiss, R Dartmouth Coll Dept Comp Sci Hanover NH 03755 USA

ISBN: (纸本)0819434329

In the distributed object recognition problem at least two robots are placed randomly in an unknown environment. The robots have to identify the same object in the environment. We describe a solution to distributed object recognition that computes the transformation of coordinates between two robots' local coordinate frames. This transformation is then used as a translator between the robots' images. We present experimental results from an implementation of this algorithm.

关键词： distributed object recognition

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Performance of a distributed robotic system using shared communications channels

Performance of a distributed robotic system using shared com...

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sensor fusion and Decentralized Control in robotic Systems IV conference

作者： Rybski, P Stoeter, S Gini, M Hougen, D Papanikolopoulos, N Univ Minnesota Dept Comp Sci & Engn Minneapolis MN 55455 USA

ISBN: (纸本)0819442992

We have designed and built a set of miniature robots and developed a distributed software system to control them. We present experimental results on a surveillance task in which multiple robots patrol an area and watch for motion. We discuss how the limited communication bandwidth affects robot performance in accomplishing the task and analyze how performance depends on the number of robots that share the bandwidth.

关键词： Robots Video Motion detection Telecommunications Video surveillance Cameras robotic systems Video processing Surveillance sensors

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An expectation-based framework of object schemas and port-based agents for disparate feedback assimilation

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AUTONOMOUS ROBOTS 1999年第2期7卷 159-173页

作者： Nelson, BJ Khosla, PK Univ Minnesota Dept Mech Engn Minneapolis MN 55455 USA Carnegie Mellon Univ Dept Elect & Comp Engn Pittsburgh PA 15213 USA

robotic manipulation systems that operate in unstructured environments must be responsive to feedback from sensors that are disparate in both location and modality. This paper describes a distributed framework for assimilating the disparate feedback provided by force and vision sensors, including active vision sensors, for robotic manipulation systems. The main components of the expectation-based framework include object schemas and port-based agents. Object schemas represent the manipulation task internally in terms of geometric models with attached sensor mappings. Object schemas are dynamically updated by sensor feedback, and thus provide an ability to perform three dimensional spatial reasoning during task execution. Because object schemas possess knowledge of sensor mappings, they are able to both select appropriate sensors and guide active sensors based on task characteristics. Port-based agents are the executors of reference inputs provided by object schemas and are defined in terms of encapsulated control strategies. Experimental results demonstrate the capabilities of the framework in two ways: the performance of manipulation tasks with active camera-lens systems, and the assimilation of force and vision sensory feedback.

关键词： force control visual serving sensor fusion robotic manipulation active sensors

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Building a million beacon map

Building a million beacon map

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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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Everywhere-in-focus image fusion using controlablle cameras

Everywhere-in-focus image fusion using controlablle cameras

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sensor fusion and distributed robotic agents

作者： Seales, W. Brent Dutta, Sandeep Department of Computer Science University of Kentucky Lexington KY 40506 United States

Imaging parameters such as focus strongly influence data quality and the performance of content extraction techniques. Narrow depth of field gives clear focus but only over a short range of depths. This paper shows results from an algorithm that uses computer-controlled focus and pan camera movement in order to obtain a scene image that is a composite which is in focus at every point. The goal is to explore the possible algorithms for using both intrinsic (focus) and extrinsic (pan and tilt) camera movements to generate an image sequence and then efficiently obtain a fused composite. ©2005 Copyright SPIE - The International Society for Optical Engineering.

关键词： Image fusion

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Intelligent and efficient strategy for unstructured environment sensing using mobile robot agents

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JOURNAL OF INTELLIGENT & robotic SYSTEMS 2005年第2-4期43卷 217-253页

作者： Sujan, VA Meggiolaro, MA Cummins Engine Co Air Handling & Combust Control Div Columbus IN 47201 USA Pontificia Univ Catolica Rio de Janeiro Dept Mech Engn BR-22453900 Rio De Janeiro Brazil

In field environments it is not usually possible to provide robots in advance with valid geometric models of its task and environment. The robot or robot teams need to create these models by scanning the environment with its sensors. Here, an information-based iterative algorithm to plan the robot's visual exploration strategy is proposed to enable it to most efficiently build 3D models of its environment and task. The method assumes mobile robot (or vehicle) with vision sensors mounted at a manipulator end-effector (eye-in-hand system). This algorithm efficiently repositions the systems' sensing agents using an information theoretic approach and fuses sensory information using physical models to yield a geometrically consistent environment map. This is achieved by utilizing a metric derived from Shannon's information theory to determine optimal sensing poses for the agent(s) mapping a highly unstructured environment. This map is then distributed among the agents using an information-based relevant data reduction scheme. This method is particularly well suited to unstructured environments, where sensor uncertainty is significant. Issues addressed include model-based multiple sensor data fusion, and uncertainty and vehicle suspension motion compensation. Simulation results show the effectiveness of this algorithm.

关键词： visual mapping cooperative robots information theory unstructured environments data fusion

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