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

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Collaborative multi-modality target classification in distributed sensor networks

Collaborative multi-modality target classification in distri...

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International conference on Information fusion

作者： Xiaoling Wang Hairong Qi S.S. Iyengar Department of Electrical and Computer Engineering University of Tennessee Knoxville TN USA Department of Computer Science Louisiana State University Baton Rouge LA USA

ISBN: (纸本)0972184414

A new computing paradigm which utilizes mobile agents to carry out collaborative target classification in distributed sensor networks is presented in this paper. Instead of each sensor sending local classification results to a processing center where the fusion process is taken place, a mobile agent is dispatched from the processing center and the fusion process is executed at each sensor node. The advantage of using mobile agent is that it achieves progressive accuracy and is task-adaptive. To improve the accuracy of classification, we implement Behavior Knowledge Space method for multi-modality fusion. We also modified the classical k-nearest-neighbor method to be adaptive to collaborative classification in a distributed network of sensor nodes. Experimental results based on a field demo are presented at the end of the paper.

关键词： Collaboration Intelligent networks Multimodal sensors sensor fusion sensor phenomena and characterization Mobile agents Costs Wireless sensor networks Computer networks distributed computing

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sensor planning and control in a dynamic environment

Sensor planning and control in a dynamic environment

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IEEE International conference on robotics and Automation (ICRA)

作者： J.R. Spletzer C.J. Taylor GRASP Laboratory University of Pennsylvania Philadelphia PA USA

This paper presents an approach to the problem of controlling the configuration of a team of mobile agents equipped with cameras so as to optimize the quality of the estimates derived from their measurements. The issue of optimizing the robots' configuration is particularly important in the context of teams equipped with vision sensors since most estimation schemes of interest will involve some form of triangulation. We provide a theoretical framework for tackling the sensor planning problem and a practical computational strategy, inspired by work on particle filtering, for implementing the approach. We extend our previous work by showing how modeled system dynamics and configuration space obstacles can be handled. These ideas have been demonstrated both in simulation and on actual robotic platforms. The results indicate that the framework is able to solve fairly difficult sensor planning problems online without requiring excessive amounts of computational resources.

关键词： Robot sensing systems Robot vision systems Cameras sensor systems Laboratories Mobile agents Computational modeling Orbital robotics Motion control distributed control

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Proceedings 2002 IEEE International conference on robotics and Automation (Cat. No.02CH37292)

Proceedings 2002 IEEE International Conference on Robotics a...

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IEEE International conference on robotics and Automation (ICRA)

The following topics are dealt with: localization; humanoid robots; flying robots; Petri nets; modular robots; calibration; programming; resource allocation; uncalibrated vision; virtual reality; motion planning; cooperating robots; sensing; binary actuation; mobile manipulation; industrial automation; fault tolerance; parallel robots; simulation; force-guided assembly; visual servo control; haptics; impedance control; omnidirectional robots; underwater robots; manufacturing; fixturing; cooperating manipulators; autonomous agents; Internet automation; micro locomotion; telerobotics; distributed manipulation; learning; biomedical robotics; micro assembly; hyper-redundant robots; skill acquisition; grasping; visual servo control; sensor-based planning; force control; nonholonomic robots; sensor fusion; SLAM human robot interaction; probabilistic roadmaps; fuzzy control; legged locomotion; space robotics; actuators; inspection; multirobot motion planning; robust control; navigation; aerial vehicles; CAD/CAM kinematics; pose detection; tracking; obstacle detection; obstacle avoidance; human assistance devices; teleoperator stability; stereo vision; service robots; multifinger hands; neural nets; learning; and jumping robots.

关键词： Robots

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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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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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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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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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An open multi-agent control architecture to support virtual reality based man-machine interfaces

An open multi-agent control architecture to support virtual ...

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sensor fusion and Decentralized Control in robotic Systems IV conference

作者： Freund, E Rossmann, R Brasch, M Univ Dortmund Inst Robot Res D-44227 Dortmund Germany

ISBN: (纸本)0819442992

Projective Virtual Reality(2) is a new and promising approach to intuitively operable man machine interfaces for the commanding and supervision of complex automation systems. The user interface part of Projective Virtual Reality heavily builds on latest Virtual Reality techniques, a task deduction component and automatic action planning capabilities. In order to realize man machine interfaces for complex applications, not only the Virtual Reality part has to be considered but also the capabilities of the underlying robot and automation controller are of great importance. This paper presents a control architecture that has proved to be an ideal basis for the realization of complex robotic and automation systems that are controlled by Virtual Reality based man machine interfaces. The architecture does not just provide a well suited framework for the real-time control of a multi robot system but also supports Virtual Reality metaphors and augmentations which facilitate the user's job to command and supervise a complex system. The developed control architecture has already been used for a number of applications. Its capability to integrate sensor information from sensors of different levels of abstraction in real-time helps to make the realized automation system very responsive to real world changes. In this paper, the architecture will be described comprehensively, its main building blocks will be discussed and one realization that is built based on an open source real-time operating system will be presented. The software design and the features of the architecture which make it generally applicable to the distributed control of automation agents in real world applications will be explained. Furthermore its application to the commanding and control of experiments in the Columbus space laboratory, the European contribution to the International Space Station (ISS), is only one example which will be described.

关键词： Projective Virtual Reality robot controller real-time-capability distributed system International Space Station man-machine-interface

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distributed sensor fusion for object position estimation by multi-robot systems

Distributed sensor fusion for object position estimation by ...

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IEEE International conference on robotics and Automation

作者： Stroupe, AW Martin, MC Balch, T Carnegie Mellon Univ Inst Robot Pittsburgh PA 15213 USA

ISBN: (纸本)0780365763

We present a method for representing, communicating and fusing distributed, noisy and uncertain observations of an object by multiple robots. The approach relies on re-parameterization of the canonical two-dimensional Gaussian distribution that corresponds more naturally to the observation space of a robot. The approach enables two or more observers to achieve greater effective sensor coverage of the environment and improved accuracy in object position estimation. We demonstrate empirically that, when using our approach, more observers achieve more accurate estimations of an object's position. The method is tested in three application areas, including object location, object tracking, and ball position estimation or robotic soccer. Quantitative evaluations of the technique in use on mobile robots are provided.

关键词： distributed sensing multi-robot coordination

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distributed motion planning for modular robots

Distributed motion planning for modular robots

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sensor fusion and Decentralized Control in robotic Systems IV conference

作者： Gregersen, K Petersen, HG Petersen, ML Univ So Denmark Maersck McKinney Moller Inst Prod Technol Odense Denmark

ISBN: (纸本)0819442992

On the software side of modular robotics, there are many challenging steps towards the ultimate intelligent and autonomous robot module (sub-component). Examples of such challenges are to derive distributed task planning, distributed motion planning and distributed control methods. In this paper we focus on the derivation of a distributed or "truly modular" local motion planner. Such a motion planner must as input take tasks for the assembled modular robot and without any central intelligence deliver the necessary robot motion. More specifically, we illustrate how the method of artificial forces together with a new description of the robot kinematics can be used for developing a distributed local motion planner. The motion planner is truly distributed as the software on each module only needs information about the module itself and of modules which are physically directly connected to it. Although the method is essentially very general, we for simplicity only illustrate it for planar K-linked modular robots. We present the motion planning algorithms for link and joint processors for this special case and we show output of simulations. Furthermore, we present results from applying the motion planner to a planar truly modular robot consisting of 4 links and 4 revolute joints each with their own on-board processor.

关键词： motion planning distributed computing modular robots

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