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2014 13th International conference on Control Automation robotics and Vision, ICARCV 2014

作者： Van Nguyen, Linh Kodagoda, Sarath Ranasinghe, Ravindra Dissanayake, Gamini Sydney Australia

ISBN: (纸本)9781479951994

This paper presents a distributed spatial estimation and prediction approach to address the centrally-computed scheme of Gaussian Process regression at each robotic sensor in resource-constrained networks of mobile, wireless and noisy agents monitoring physical phenomena of interest. A mobile sensor independently estimate its own parameters using collective measurements from itself and local neighboring agents as they navigate through the environment. A spatially-distributed prediction algorithm is designed utilizing methods of Jacobi over-relaxation and discrete-time average consensus to enable a robotic sensor to update its estimation of obtaining the global model parameters and recursively compute the global goal of inference. A distributed navigation strategy is also considered to drive sensors to the most uncertain locations enhancing the quality of prediction and learning parameters. Experimental results in a real-world data set illustrate the effectiveness of the proposed approach and is highly comparable to those of the centralized scheme. © 2014 IEEE.

关键词： Wireless sensor networks

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Algorithm comparison for autonomous distributed fusion

Algorithm comparison for autonomous distributed fusion

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conference on Signal Processing, sensor fusion, and Target Recognition XV

作者： Liggins, Martin Chang, K. C. George Mason Univ Dept Syst Engn & Operat Res Fairfax VA 22030 USA

ISBN: (纸本)0819462918

The concept of network centric operations is a process the military is just beginning to struggle with. distributed information and data fusion provides the foundation to determine target track state estimation within a network centric structure. This paper addresses the overall effectiveness of two popular fusion approaches - the information filter and the channel filter for selected network architectures. Specifically, we compare algorithm performance for two special network cases - the cyclic network and the broadcast network. We will show the scalability of the channel filter when agents are added to the cyclic network and provide an assessment under conditions of random link failure between agents.

关键词： distributed fusion information filter channel filter Kalman filter information graph network centric operations fusion performance comparison

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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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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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Anticipation as a key for collaboration in a team of agents: A case study in robotic soccer

Anticipation as a key for collaboration in a team of agents:...

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sensor fusion and Decentralized Control in robotic Systems II conference

作者： Veloso, M Stone, P Bowling, M Carnegie Mellon Univ Dept Comp Sci Pittsburgh PA 15213 USA

ISBN: (纸本)0819434329

We investigate teams of complete autonomous agents that can collaborate towards achieving precise objectives in an adversarial dynamic environment. We have pursued this work in the context of robotic soccer both in simulation and with real physical robots. We briefly present these two frameworks emphasizing their different technical challenges. Creating effective members of a team is a challenging research problem. We first address this issue by introducing a team architecture organization which allows for a rich task decomposition between team members. The main contribution of this paper is our introduction of an action-selection algorithm that allows for a teammate to anticipate the needs of other teammates. Anticipation is critical for maximizing the probability of successful collaboration in teams of agents. We show how our contribution applies to the two concrete robotic soccer frameworks and present controlled empirical results run in simulation. Anticipation was successfully used by both our CMUnited-98 simulator and CMUnited-98 small-robot teams in the RoboCup98 competition. The two teams are RoboCup-98 world champions each in its own league.

关键词： Robots robotics Computer simulations Algorithm development Indium nitride Motion estimation robotic systems sensors Ions Process control

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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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Multi-Scale Adaptive Sampling with Mobile agents for Mapping of Forest Fires

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JOURNAL OF INTELLIGENT & robotic SYSTEMS 2009年第4期54卷 535-565页

作者： Mysorewala, Muhammad F. Popa, Dan O. Lewis, Frank L. Univ Texas Arlington Automat & Robot Res Inst Arlington TX 76019 USA

The use of robotics in distributed monitoring applications requires wireless sensors that are deployed efficiently. A very important aspect of sensor deployment includes positioning them for sampling at locations most likely to yield information about the spatio-temporal field of interest, for instance, the spread of a forest fire. In this paper, we use mobile robots (agents) that estimate the time-varying spread of wildfires using a distributed multi-scale adaptive sampling strategy. The proposed parametric sampling algorithm, "EKF-NN-GAS" is based on neural networks, the extended Kalman filter (EKF), and greedy heuristics. It combines measurements arriving at different times, taken at different scale lengths, such as from ground, airborne, and spaceborne observation platforms. One of the advantages of our algorithm is the ability to incorporate robot localization uncertainty in addition to sensor measurement and field parameter uncertainty into the same EKF model. We employ potential fields, generated naturally from the estimated fire field distribution, in order to generate fire-safe trajectories that could be used to rescue vehicles and personnel. The covariance of the EKF is used as a quantitative information measure for sampling locations most likely to yield optimal information about the sampled field distribution. Neural net training is used infrequently to generate initial low resolution estimates of the fire spread parameters. We present simulation and experimental results for reconstructing complex spatio-temporal forest fire fields "truth models", approximated by radial basis function (RBF) parameterizations. When compared to a conventional raster scan approach, our algorithm shows a significant reduction in the time necessary to map the fire field.

关键词： Adaptive sampling sensor fusion Kalman filter Potential fields Environmental monitoring Forest fires

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distributed gradient ascent of random fields by robotic sensor networks

Distributed gradient ascent of random fields by robotic sens...

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46th IEEE conference on Decision and Control

作者： Cortes, Jorge Univ Calif San Diego Dept Mech & Aerosp Engn San Diego CA 92103 USA

ISBN: (纸本)9781424414970

This paper considers a robotic sensor network, deployed in an environment of interest, that takes successive measurements of a spatial random field. Taking a Bayesian perspective on the kriging interpolation technique from geostatistics, we design the distributed KRIGING ALGORITHM to estimate the distribution of the random field and of its gradient. The proposed algorithm makes use of a novel distributed strategy to compute weighted least squares estimates when measurements are spatially correlated. This strategy results from the combination of the Jacobi overrelaxation method with dynamic consensus algorithms. The network agents use the information gained on the spatial field to implement a gradient ascent coordination algorithm, whose convergence is analyzed via stochastic Lyapunov functions in the absence of measurement errors. We illustrate our results in simulation.

关键词： sensor networks

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Disambiguating Localization Symmetry through a Multi-Clustered Particle Filtering

Disambiguating Localization Symmetry through a Multi-Cluster...

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IEEE International conference on Multisensor fusion and lntegration for Intelligent Systems (MFI)

作者： Previtali, Fabio Gemignani, Guglielmo Iocchi, Luca Nardi, Daniele Univ Roma La Sapienza Dept Comp Control & Management Engn Via Ariosto 25 I-00185 Rome Italy

ISBN: (纸本)9781479977727

distributed Particle filter-based algorithms have been proven effective tools to model non-linear and dynamic processes in Multi Robot Systems. In complex scenarios, where mobile agents are involved, it is crucial to disseminate reliable beliefs among agents to avoid the degradation of the global estimations. We present a cluster-based data association to boost the performance of a distributed Particle Filter. Exploiting such data association, we propose a disambiguation method for the RoboCup scenario robust to noise and false perceptions. The results obtained using both a simulated and a real environment demonstrate the effectiveness of the proposed approach.

关键词： mobile robots multi-robot systems particle filtering (numerical methods) pattern clustering sensor fusion RoboCup scenario cluster-based data association distributed particle filter-based algorithms localization symmetry mobile agents multiclustered particle filtering multirobot systems Clustering algorithms Data integration Estimation Robot sensing systems Robustness multi-robot systems Particle filters Mobile agents Manipulator sensing systems Clustering algorithms data integration sensor fusion Mobile robots data association Cluster Analysis

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Development of a self-reconfigurable modular robotic system

Development of a self-reconfigurable modular robotic system

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conference on sensor fusion and Decentralized Control in robotic Systems III

作者： Tomita, K Murata, S Yoshida, E Kurokawa, H Kamimura, A Kokaji, S Minist Int Trade & Ind Agcy Ind Sci & Technol Mech Engn Lab Tsukuba Ibaraki 3058564 Japan

ISBN: (纸本)0819438618

We present a novel type of modular robotic system that has a capability of both autonomous shape reconfiguration and robotic motion generation. We have developed hardware modules and examined basic mechanical functions and reconfiguration. A simulation system of the modular robotic system has also been developed to design the reconfiguration sequence and motion for a cluster of the modules.

关键词： self-reconfigurable robot distributed autonomous system modular robot

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