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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331-340 订阅

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

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

引用

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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sensor supervision and multi-agent commanding by means of "Projective Virtual Reality"

Sensor supervision and multi-agent commanding by means of "P...

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conference on sensor fusion amd Decentralized Control in robotic Systems

作者： Rossmann, J Univ Dortmund Inst Robot Res D-44227 Dortmund Germany

ISBN: (纸本)0819429848

When autonomous systems with multiple agents are considered, conventional control- and supervision technologies are often inadequate because the amount of information available is often presented in a way that the user is effectively overwhelmed by the displayed data. New virtual reality (VR) techniques can help to cope with this problem, because VR offers the chance to convey information in a intuitive manner and can combine supervision capabilities and new, intuitive approaches to the control of autonomous systems. In the approach taken, control and supervision issues were equally stressed and finally led to the new ideas and the general framework for Projective Virtual Reality. The key idea of this new approach for an intuitively operable man machine interface for decentrally controlled multi-agent systems is to let the user act in the virtual world, detect the changes and have an action planning component automatically generate task descriptions for the agents involved to project actions that have been carried out by users in the virtual world into the physical world, e.g. with the help of robots. Thus the Projective Virtual Reality approach is to split the job between the task deduction in the VR and the task "projection" onto the physical automation components by the automatic action planning component. Besides describing the realized projective virtual reality system, the paper will also describe in detail the metaphors and visualization aids used to present different types of (e.g. sensor-) information in an intuitively comprehensible manner.

关键词： Virtual reality Robots Control systems sensors Visualization Space robots Cameras robotic systems Computer simulations robotics

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Multiagent based multisensor resource management system

Multiagent based multisensor resource management system

引用

Proceedings of the 1998 IEEE/RSJ International conference on Intelligent Robots and Systems. Part 1 (of 3)

作者： Luo, Ren C. Shr, Arthur M.D. Hu, Chi-Yang Natl Chung Cheng Univ Chia-Yi Taiwan

The objective of this paper is to describe the development of a distributed Multi-Agent sensory Information fusion system which integrates data from multiple sensors such as laser radar, weather radar, forward looking infrared sensors (FLIR) and associated important sensory information located in different agents to accomplish requested tasks cooperatively. In this paper, we have developed a system based on the concept of Offboard Augmented Theater Surveillance (OBATS) and Internet network architecture to make the multi-agent resource management system in practice. The architecture of distributed fusion system, the coordination strategy of Global Decision Agent (GDA) and the communication between Service agents (SAs) and GDA have been developed. Furthermore, a scenario application has been implemented to demonstrate the concept of this multi-agent system. Other potential applications have also been discussed.

关键词： sensor data fusion

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Multiagent based multisensor resource management system

Multiagent based multisensor resource management system

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： R.C. Luo A.M.D. Shr Chi-Yang Hu Intelligent Automation Laboratory Department of Electrical Engineering National Chung Cheng University Chiayi Taiwan

The objective of this paper is to describe the development of a distributed multiagent sensory information fusion system which integrates data from multiple sensors such as laser radar, weather radar, forward looking infrared sensors (FLIR) and associated important sensory information located in different agents to accomplish requested tasks cooperatively. We have developed a system based on the concept of offboard augmented theater surveillance (OBATS) and Internet network architecture to make the multiagent resource management system in practice. The architecture of distributed fusion system, the coordination strategy of the global decision agent (GDA) and the communication between service agents (SAs) and GDA have been developed. Furthermore, a scenario application has been implemented to demonstrate the concept of this multiagent system. Other potential applications have also been discussed.

关键词： Resource management Infrared sensors Laser radar Meteorological radar sensor fusion sensor phenomena and characterization sensor systems Laser fusion Surveillance IP networks

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Symmetry breaking as a model for emergent structure of heterogeneous networked robotic agents

Symmetry breaking as a model for emergent structure of heter...

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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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Processing modules for hybrid, real-time, distributed robot architectures

Processing modules for hybrid, real-time, distributed robot ...

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conference on sensor fusion and Decentralized Control in Autonomous robotic Systems

作者： Chernett, P Colley, M Callaghan, V Univ. of Essex (United Kingdom)

ISBN: (纸本)0819426415

New experimental hardware for research into architectures for distributed intelligent embedded systems is proposed that will provide a wide range of communication media including non-deterministic broadcast such as Ethernet, deterministic broadcast such as CAN and processor busses such as VME. The emphasis is on large scale system integration rather than provision for individual capabilities. A prototype implementation of some of the proposed hardware and software modules is described together with their use in several research.

关键词： hybrid architecture distributed systems autonomous vehicles real-time agricultural vehicles subsea vehicles

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Underwater robot society doing internal inspection and leak monitoring of water systems

Underwater robot society doing internal inspection and leak ...

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conference on sensor fusion and Decentralized Control in Autonomous robotic Systems

作者： Halme, A Vainio, M Appelqvist, P Jakubik, P Schonberg, T Visala, A Helsinki Univ. of Technology (Finland)

ISBN: (纸本)0819426415

In the field of civil engineering an effective infernal monitoring of pipes and water storage is very problematic. Normally the sensors used for the task are either fixed or manually movable. Thus they will only provide locally and temporally restricted information. As a solution an underwater robotic sensor/actuator society is presented. The system is capable of operating inside a fluid environment as a kind of distributed sensory system. The value of the system emerges from the interactions between the members. Through a communication system the society fuses information from individual members and provides a more reliable estimate of the conditions inside water systems. Test results in a transparent demo process consisting of tanks and pipes with a volume of 700 liters are presented.

关键词： underwater robot society leak detection data fusion

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A collaboration strategy for autonomous, highly specialized agents

A collaboration strategy for autonomous, highly specialized ...

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conference on sensor fusion and Decentralized Control in Autonomous robotic Systems

作者： Talukdar, SN Sachdev, S Camponogara, E Carnegie Mellon University Pittsburgh PA 15213 United States EDRC ICES Carnegie Mellon University Pittsburgh PA 15213 United States

ISBN: (纸本)0819426415

The typical planning, design or operations problem has multiple objectives and constraints. Such problems can be solved using only autonomous agents, each specializing in a small and distinct subset of the overall objectives and constraints. No centralized control is necessary. Instead, agents collaborate by observing and modifying one another's work. Convergence to good solutions for a variety of real and academic problems has been obtained by embedding a few simple rules in each agent. The paper develops these rules and illustrates their use.

关键词： A-teams agent asynchronous autonomous collaboration constraint cooperation nonlinear optimization specialized

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Embedded tolerance analysis for sonar sensors

Embedded tolerance analysis for sonar sensors

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Proceedings of the 1997 conference Symposium & Workshop on Measurement Science

作者： Dekhil, M. Sobh, T.M. Univ of Utah Salt Lake City United States

Tolerance analysis constitutes an essential task in designing and building robust sensor systems for robotic applications. In most current practices, tolerance analysis is considered after the system is designed and implemented. This leads to poor system integrity and lower overall reliability. In this paper we discuss several aspects of tolerance analysis for sonar sensors used for mobile robot applications. We show how to embed tolerance analysis within a distributed control scheme. Simulation results of applying this model are presented with a brief discussion and conclusion on these results.

关键词： sensor data fusion

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Cooperative target convergence using multiple agents

Cooperative target convergence using multiple agents

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conference on sensor fusion and Decentralized Control in Autonomous robotic Systems

作者： Kwok, KS Driessen, BJ Sandia National Labs. (United States)

ISBN: (纸本)0819426415

This work considers the problem of causing multiple (100's) autonomous mobile robots to converge to a target and provides a ''follow-the-leader'' approach to the problem. Each robot has only a limited-range sensor for sensing the target and also larger but also limited-range robot-to-robot communication capability. Because of the small amount of information available to the robots, a practical approach to improve convergence to the target is to have a robot follow the robot with the best quality of information. Specifically, each robot emits a signal that informs in-range robots what its status is. A robot has a status value of 0 if it is itself in range of the target. A robot has a status of 1 if it is not in range of the target but is is communication range of a robot that is in range of the target. A robot has a status of 2 if it is not in range of the target but is within range of another robot that has status 1, and so on. Of all the mobile robots that any given robot is in range of, it follows the one with the best status. The emergent behavior is the ant-like trails of robots following each other toward the target. If the robot is nor in range of another robot that is either in range of the target or following another robot, the robot will assign -1 to its quality-of-information, and will execute an exhaustive search. The exhuastive search will continue until it encounters either the target or another robot with a nonnegative quality-of-information. The quality of information approach was extended to the case where each robot only has two-bit signals informing it of distance to in-range robots.

关键词： cooperative behavior multiple agent emergent behavior fuzzy logic multiple target

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