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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71-80 订阅

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Autonomous Mobile Robot with Manipulator Based on Multisensor Data fusion for Target Detection

Autonomous Mobile Robot with Manipulator Based on Multisenso...

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IEEE International conference on Circuits, Power and Computing Technologies (ICCPCT)

作者： Chandrasenan, Chinchu Nafeesa, T. A. Rajan, Reshma Vijayakumar, K. Toc H Inst Sci & Technol Dept ECE Ernakulam Kerala India

ISBN: (纸本)9781479923977

This paper proposes a novel autonomous mobile robot in unknown environment navigating through obstacles by computing the shortest path. Flood fill algorithm is used for the implementation of the mobile robot. Control of robotic arm is performed using Fuzzy algorithm based on the concept of minimum energy contour to perform the desired operations. Object detection is done by utilizing a mobile robot with sensors and object recognition is achieved by image processing using Principal Component Analysis (PCA). The decision-making process rely on data coming from multiple sensors. The aim of the present work is to provide an optimal fusion of information from distributed multiple sensors using Kalman Filter considering the localisation and navigation of a mobile robot as well as the mobility of robotic arm.

关键词： Mobile robot navigation flood fill robotic arm fuzzy algorithm object detection multi-sensor fusion Principal Component Analysis Kalman Filter

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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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A multiagent framework for industrial robotic applications

A multiagent framework for industrial robotic applications

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conference of the Complex Adaptive Systems on Responding to Continuous Global Change in Systems Needs

作者： Svaco, Marko Sekoranja, Bojan Jerbic, Bojan Fac Mech Engn & Naval Architecture Zagreb 10000 Croatia

The paper presents a novel approach toward modeling and governing complex system behavior in flexible and adaptive robotic assembly systems. A fully distributed multiagent approach is implemented for autonomous control. The system is defined at multiple levels of granularity where agents provide services in respect to the current global goal. A decentralized multiagent approach is adopted for reasons of flexibility and fault tolerance embedded in the design phase. To prove the concept a robotic application for intelligent assembly is presented and discussed. It consists of multiple industrial robots equipped with force/torque sensors, 2D and 3D vision systems, automatic tool changers and other sensors and actuators. Through fusion of sensory input and mutual communication agents construct and negotiate an assembly plan and reconfigure respectively. (C) 2011 Published by Elsevier B. V.

关键词： distributed robotic systems Multiagent systems Assembly technology

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A MULTI-AGENT ARCHITECTURE TO SUPPORT ACTIVE fusion IN A VISUAL sensor NETWORK

A MULTI-AGENT ARCHITECTURE TO SUPPORT ACTIVE FUSION IN A VIS...

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2nd ACM/IEEE International conference on distributed Smart Cameras

作者： Castanedo, Federico Garcia, Jesus Patricio, Miguel A. Molina, Jose M. Univ Carlos III Madrid Dept Comp Sci Appl Artificial Intelligence Grp E-28903 Getafe Spain

ISBN: (纸本)9781424426645

One of the main characteristics of a visual sensor network environment is the high amount of data generated. In addition, the application of some process, as for example tracking objects, generate a highly noisy output which may potentially produce an inconsistent system output. By inconsistent output we mean highly differences between tracking information provided by the visual sensors. A visual sensor network, with overlapped field of views, could exploit the redundancy between the field of view of each visual sensor to avoid inconsistencies and obtain more accurate results. In this paper, we present a visual sensor network system with overlapped field of views, modeled as a network of software agents. The communication of each software agent allows the use of feedback information in the visual sensors, called Active fusion. Results of the software architecture to support Active fusion scheme in an indoor scenario evaluation are presented.

关键词： Visual sensor Network Data fusion Multi-Agent Systems

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A distributed Architecture for Symbolic Data fusion

A Distributed Architecture for Symbolic Data Fusion

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20th International Joint conference on Artificial Intelligence

作者： Mastrogiovanni, Fulvio Sgorbissa, Antonio Zaccaria, Renato Univ Genoa Lab DIST I-16126 Genoa Italy

This paper presents a distributed knowledge representation and data fusion system designed for highly integrated Ambient Intelligence applications. The architecture, based on the idea of an ecosystem of interacting artificial entities, is a framework for collaborating agents to perform an intelligent multi-sensor data fusion. In particular, we focus on the cognitive layers leading the overall data acquisition process. The approach has been thoroughly tested in simulation, and part of it has been already exploited in successful applications.

关键词： Knowledge representation

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Agent behaviour and capability correlation factors as determinants in fusion processing

Agent behaviour and capability correlation factors as determ...

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6th International conference on Information fusion, fusion 2003

作者： Bowyer, Richard S. Bogner, Robert E. Department of Electrical and Electronic Engineering University of Adelaide Australia

ISBN: (纸本)0972184449

The area surveillance problem is considered, where a society of autonomous sensor agents is tasked to observe a region of interest. The agents are connected by a communications network and are geographically distributed throughout the region. As part of the information fusion process, individual agents evaluate the neighbouring sensor agents to select a suitable sensor mix that will assist in target position estimation and identijkation. In this society of intelligent agents, the relationships that evolve between the agents are functions of many factors. Two of these factors are the degree to which an agent exhibits a desired behaviour, and the second is the degree to which an agent possesses the set of desired capabilities, with respect to each agent. Measures are proposed for describing these factors, namely the agent Behaviour Correlation Facto6 and the agent Species Correlation Factor: The scope of these factors is explored in computer simulations for a society of agents, comprising varying degrees of behaviour and species homogeneity. © 2003 ISlF.

关键词： Intelligent agents

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Kalman-Consensus Filter : Optimality, Stability, and Performance

Kalman-Consensus Filter : Optimality, Stability, and Perform...

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Joint 48th IEEE conference on Decision and Control (CDC) / 28th Chinese Control conference (CCC)

作者： Olfati-Saber, Reza Dartmouth Coll Thayer Sch Engn Hanover NH 03755 USA

ISBN: (纸本)9781424438723

One of the fundamental problems in sensor networks is to estimate and track the state of targets (or dynamic processes) of interest that evolve in the sensing field. Kalman filtering has been an effective algorithm for tracking dynamic processes for over four decades. distributed Kalman Filtering (DKF) involves design of the information processing algorithm of a network of estimator agents with a two-fold objective: 1) estimate the state of the target of interest and 2) reach a consensus with neighboring estimator agents on the state estimate. We refer to this DKF algorithm as Kalman-Consensus Filter (KCF). The main contributions of this paper are as follows: i) finding the optimal decentralized Kalman-Consensus filter and showing that its computational and communication costs are not scalable in n and ii) introducing a scalable suboptimal Kalman-Consensus Filter and providing a formal stability and performance analysis of this distributed and cooperative filtering algorithm. Kalman-Consensus Filtering algorithm is applicable to sensor networks with variable topology including mobile sensor networks and networks with packet-loss.

关键词： sensor networks Kalman-Consensus filtering distributed Kalman filtering distributed data fusion

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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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New framework of distributed multisensor fusion for intelligent systems

New framework of distributed multisensor fusion for intellig...

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Proceedings of the IEEE International conference on Industrial Technology

作者： Guo, Cheng-He Wang, Xiao-Gang Qian, Wen-Han Lin, Cai-Xing Shanghai Jiao-Tong Univ Shanghai China

To tackle the complexity of robotic multiple sensor fusion a suitable system structure is urgently required. Most structures at present have a fusion center to deal with information from various sensors located at different points, but unfortunately have no necessary connections between low-level sensors. Consequently the fusion center has more responsibility for communication and signal interpretation, which causes bottle-neck problem. Moreover sensors cannot help each other to improve the task environment recognition efficiency. To overcome the above drawbacks we define the concept of smart sensor at first. Each smart sensor should have five abilities, that is prediction, planning, updating, communication and assimilation. Then we discuss the algorithm of a perception system which consists of several smart sensors. At last we take two application case study as examples to illustrate our new idea.

关键词： sensor data fusion

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Agent Based Approach to Information fusion in Wireless sensor Networks

Agent Based Approach to Information Fusion in Wireless Senso...

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IEEE Region 10 conference (TENCON 2008)

作者： Sutagundar, A. V. Manvi, S. S. Basaveshwar Engn Coll Dept Elect & Commun Engn Bagalkot 587102 India REVA Inst Technol & Management Dept Informat Sci & Engn Bangalore Karnataka India

ISBN: (纸本)9781424424085

Wireless sensor networks are gaining importance because of development in miniaturized sensors. Information fusion is one of the important problem in wireless sensor networks, where data, critical images, etc., are collected from sensor nodes. To have the complete idea of visual world one needs to fuse the information from different sensors. This position paper proposes an agent based distributed sensor network (ADSN) to form an improved infrastructure for multi-sensor information fusion. The proposed scheme is based on the clustering concept in which sensor nodes form the clusters. Each of the cluster has cluster head node. The fusing request will be generated by the user at the sink node by using a mobile agent. The mobile agent roams different active sensor nodes in each of the clusters to perform information fusion based on predetermined signal strength. Finally, once all the relevant nodes have been visited, agent transmits the fused information to the sink node. This work limits the information to only images.

关键词： Wireless sensor Networks Software agents Image fusion Agent sensor Data fusion (ASDN)

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