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The paparazzi problem

The paparazzi problem

引用

Proceedings. 2000 ieee/RSJ international conference on Intelligent Robots and systems (IROS 2000) (Cat. No.00CH37113)

作者： M. Jenkin G. Dudek Department of Computer Science York University Toronto ONT Canada Department of Computer Science McGill University Montreal QUE Canada

Multiple mobile robots, or robot collectives, have been proposed as solutions to various tasks in which distributed sensing and action are required. Here we consider applying a collective of robots to the paparazzi problem - the problem of providing sensor coverage of a target robot. We demonstrate how the computational task of the collective can be formulated as a global energy minimization task over the entire collective, and show how individual members of the collective can solve the task in a distributed fashion so that the entire collective meets its goal. This result is then extended to consider unbounded communication delays between members and complete failure of individual members of the collective.

关键词： Robot sensing systems Robot kinematics Mobile robots Intelligent robots Computer science Delay Computer architecture distributed computing Mobile communication Context

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The RoboCup-Rescue project: a robotic approach to the disaster mitigation problem

The RoboCup-Rescue project: a robotic approach to the disast...

引用

ieee international conference on Robotics and Automation (ICRA)

作者： S. Tadokoro H. Kitano T. Takahashi I. Noda H. Matsubara A. Shinjoh T. Koto I. Takeuchi H. Takahashi F. Matsuno M. Hatayama J. Nobe S. Shimada Department of Computer and Systems Engineering Kobe University Kobe Japan ERATO Kitano Symbiotic Project Chubu University Electro Technical Laboratory University of Electro-Communications Port and Harbour Research Institute Tokyo Institute of Technology Mitsubishi Research Institute Chukyo University

This paper introduces the RoboCup-Rescue Simulation Project, a contribution to the disaster mitigation, search and rescue problem. A comprehensive urban disaster simulator is constructed on distributed computers. Heterogeneous intelligent agents such as fire fighters, victims and volunteers conduct search and rescue activities in this virtual disaster world. A real world interface integrates various sensor systems and controllers of infrastructures in the real cities with the virtual world. Real-time simulation is synchronized with actual disasters, computing complex relationship between various damage factors and agent behaviors. A mission-critical man-machine interface provides portability and robustness of disaster mitigation centers, and augmented-reality interfaces for rescue parties in real disasters. It also provides a virtual reality training function for the public. This diverse spectrum of RoboCup-Rescue contributes to the creation of the safer social system.

关键词： Robots Computational modeling Computer simulation distributed computing Intelligent agent Fires sensor systems Control systems Cities and towns Mission critical systems

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Using multiple Gaussian hypotheses to represent probability distributions for mobile robot localization

Using multiple Gaussian hypotheses to represent probability ...

引用

ieee international conference on Robotics and Automation (ICRA)

作者： D.J. Austin P. Jensfelt Centre for Autonomous Systems Royal Institute of Technology Stockholm Sweden

A new mobile robot localization technique is presented which uses multiple Gaussian hypotheses to represent the probability distribution of the robot location in the environment. sensor data is assumed to be provided in the form of a Gaussian distribution over the space of robot poses. A tree of hypotheses is built, representing the possible data association histories for the system. Covariance intersection is used for the fusion of the Gaussians whenever a data association decision is taken. However, such a tree can grow without bound and so rules are introduced for the elimination of the least likely hypotheses from the tree and for the proper re-distribution of their probabilities. This technique is applied to a feature-based mobile robot localization scheme and experimental results are given demonstrating the effectiveness of the scheme.

关键词： Mobile robots Robot sensing systems Orbital robotics Probability distribution Space technology Grid computing distributed computing Signal processing Gaussian distribution History

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Time-triggered message-triggered object modeling of a distributed real-time control application for its real-time simulation

Time-triggered message-triggered object modeling of a distri...

引用

ieee Annual international Computer Software and Applications conference (COMPSAC)

作者： Moon Hae Kim Jung-Guk Kim K.H. Kim Myeong-Soo Lee Shin-Yeol Park Konkuk University Seoul South Korea HUFS Seoul South Korea University of California Irvine CA USA Korea and Electric Power Research Institute Daejeon South Korea

The time-triggered message-triggered object (TMO) has been devised as the basic component model for high level distributed real time programming as well as real time application system/subsystem design and modeling. One of the strengths of the TMO is its facilitation of multi-phased top-down modeling of real time distributed computing application systems. TMO-structured models are capable of representing both a real time control system and its controlled facilities (composed of sensors, actuators, and monitored infrastructure) in a uniform fashion. Also, TMO-structured real time simulation models can be generated in attractively simple forms and they can be executed to enable examination of not only the logical accuracy of a real time control system being developed but also the correctness of its timing behavior. A case study of such simulation modeling has been conducted in the context of constructing a real time simulator of a real time control system called the safety injection system (SIS) which is a subsystem of a nuclear power plant. In the course of this case study, some tools that support efficient real time simulation have been developed. The refined modeling steps, the support tools developed, and the cost-effectiveness confirmed in the course of this case study are the main subjects discussed.

关键词： Real time systems Control system synthesis Context modeling Power system modeling distributed computing sensor systems Actuators Monitoring Computational modeling Timing

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Possession System: middleware for adaptive multiuser applications in a mobile environment

Possession System: middleware for adaptive multiuser applica...

引用

international conference on distributed computing systems

作者： M. Mochizuki H. Tokuda Graduate School of Media and Governance Keio University Fujisawa Kanagawa Japan Faculty of Environmental Information Keio University Fujisawa Kanagawa Japan

Describes the design and implementation of a middleware system named the Possession System. The system is designed based on the "possession model", which provides users with a consistent view of application components, networked sensors and distributed devices by introducing two separate abstractions: "body" and "soul". The Possession System realizes a simple framework to deal with the adaptation of distributed multi-user applications by changing the relations among "bodies" and "souls". Furthermore, it enables users to interact with system components with a simple operation named "possession". distributed multi-user applications built on top of our middleware realize adaptive behavior, which is achieved by a mechanism combining system events with various behavioral changes of application components, including the migration of components. The middleware is applicable to adaptive systems in mobile and ubiquitous computing environments where unpredictable changes in the available computing resources, device configuration and geographic location frequently occur. We describe how multi-user applications using our middleware behave adaptively.

关键词： Middleware Adaptive systems sensor systems and applications Mobile computing Ubiquitous computing Pervasive computing

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distributed multiple view fusion for two-arm distance estimation

Distributed multiple view fusion for two-arm distance estima...

引用

international conference on Multisensor Fusion and Integration for Intelligent systems (MFI)

作者： C. Scheering J. Zhang A. Knoll Technical Computer Science Faculty of Technology University of Bielefeld Bielefeld Germany

We propose an approach for estimating the distance of two moving robot arms based on fusion of multiple vision data. The images are fused by simple concatenation of all images followed by a projection of the high-dimensional visual input data into an appropriate low-dimensional subspace. We extended the well known principal component analysis to the so-called output relevant features and present a distributed online computation algorithm performing the projection in parallel. We show that complex sensor data can be efficiently compressed if the robot motions are constrained to a local scenario. The second component of our model is an adaptive B-spline neuro-fuzzy controller whose input space is the constructed subspace and whose output is the estimated distance. Our experimental setup is a two-arm robot system with four uncalibrated cameras. Experiments with a complex circular motion show that the method works even if no robust geometric features can be extracted from the sensor pattern.

关键词： Robot vision systems Manipulators Principal component analysis Concurrent computing distributed computing Robot motion Programmable control Adaptive control Spline Robot sensing systems

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Projective method for generic sensor fusion problem

Projective method for generic sensor fusion problem

引用

international conference on Multisensor Fusion and Integration for Intelligent systems (MFI)

作者： N.S.V. Rao Center of Engineering Science Advanced Research Computer Science and Mathematics Oak Ridge National Laboratory Oak Ridge TN USA

In a multiple sensor system, each sensor produces an output which is related to the desired feature according to a certain probability distribution. We propose a fuser that combines the sensor outputs to more accurately predict the desired feature. The fuser utilizes the lower envelope of regression curves of sensors to project the sensor with the least error at each point of the feature space. This fuser is optimal among all projective fusers and also satisfies the isolation property that ensures a performance at least as good as the best sensor. In the case the sensor distributions are not known, we show that a consistent estimator of this fuser can be computed entirely based on a training sample. Compared to linear fusers, the projective fusers provide a complementary performance. We propose two classes of metafusers that utilize both linear and projective fusers to perform at least as good as the best sensor as well as the best fuser.

关键词： sensor fusion sensor systems Measurement errors Computer science Mathematics Probability distribution distributed computing Ear Contracts Cost function

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Identifying and localizing robots in a multi-robot system environment

Identifying and localizing robots in a multi-robot system en...

引用

ieee international Workshop on Intelligent Robots and systems (IROS)

作者： K. Kato H. Ishiguro M. Barth Department of Computer and Communication Sciences Wakayama University Wakayama Japan Department of Social Informatics Kyoto University Sakyo Kyoto Japan Department of Electrical Engineering University of California Riverside CA USA

Development of multiple robot systems which solve complex and dynamic problems in parallel and distributed manners is one of the key issues in robotics research. The multiple robot systems require robust methods to identify robots for collaborative behaviors. This paper proposes a method using omnidirectional vision sensors for the identification between the robots. In addition to the several advantages of the omnidirectional vision sensor as a vision of a mobile robot, the omnidirectional vision sensor brings a significant benefit for realizing collaborative behaviors in multiple robot systems. After discussing on the algorithm, this paper shows several simulation results and real experimental results in a real environment.

关键词： Multirobot systems Robot sensing systems Robot vision systems Mobile robots Parallel robots sensor systems Cameras Mirrors Concurrent computing Informatics

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Active haptic perception and control of its fixation

Active haptic perception and control of its fixation

引用

ieee international conference on Robotics and Automation (ICRA)

作者： S. Emura S. Tachi NTT Cyber Space Laboratories University of Tokyo Japan

A computational approach is applied to the problem of controlling fixation of haptic perception during general motion. Estimation of hardness and curvatures of the environment from a single pressure image is shown to be ill-posed, and an active observation is demonstrated making the estimation well-posed. Also proposed is an algorithm for haptic servoing for the active finger-pad to fix its high-resolution region on the surface of contact.

关键词： Haptic interfaces sensor arrays Tactile sensors Robot sensing systems Shape Motion analysis Motion control Humans Skin distributed computing

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Body parts positions and posture estimation system based on pressure distribution image

Body parts positions and posture estimation system based on ...

引用

ieee international conference on Robotics and Automation (ICRA)

作者： T. Harada T. Mori Y. Nishida T. Yoshimi T. Sato University of Tokyo Bunkyo Tokyo Japan Electro Technical Laboratory Tsukuba Ibaraki Japan Denso Kariya Aichi Japan

We develop a body parts position and posture estimation system. This system consists of a pressure sensor distributed bed and body parts position and posture estimation software. The computer constructs many pressure distribution images based on the simple human models and accumulates these images to its memory, called the model-based pressure image templates. The pressure distribution image through is compared with model-based pressure image templates to find out the most matched pressure image template. The model-based pressure image templates contain body parts positions and joint angles information, so the body parts position contacting with the bed can easily be estimated by using the most matched model-based pressure image template. Finally, an estimated posture is displayed as a 3D computer graphics image. An experimental result reveals that the system not only can display the estimated lying human posture intuitively, but can also estimate the lying human's body parts position accurately where the body parts contacts with bed.

关键词： Humans Biological system modeling Biomedical monitoring sensor systems distributed computing Computer displays Joints Magnetooptic recording Laboratories Software algorithms

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