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检索条件"任意字段=IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2001"

共 556 条记录，以下是121-130 订阅

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Vision-based line tracking and navigation in structured environments

Vision-based line tracking and navigation in structured envi...

引用

ieee international symposium on computational intelligence in robotics and automation (cira)

作者： G. Beccari S. Caselli F. Zanichelli A. Calafiore Dipartimento di Ingegneria dell'Informazione University of Parma Italy

This paper describes a vision-based, low-cost line-tracking system suitable for robot or AGV navigation in structured environments. Vehicle navigation takes advantage of the visual information provided by artificial or pre-existing landmarks, specifically lines and signs. This information is efficiently processed using specialized perceptual behaviors, including neural networks and focus of attention techniques, with the help of a multi-threaded real-time control architecture. Attained system performance is compatible with present requirements and practices for typical AGV applications.

关键词： Navigation Robot vision systems Costs Vehicles Real time systems Control systems Production facilities Wires Floors Artificial intelligence

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A frontier-based approach for autonomous exploration

A frontier-based approach for autonomous exploration

引用

ieee international symposium on computational intelligence in robotics and automation (cira)

作者： B. Yamauchi Naval Research Laboratory Navy Center for Applied Research in Artificial Intelligence Washington D.C. DC USA

We introduce a new approach for exploration based on the concept of frontiers, regions on the boundary between open space and unexplored space. By moving to new frontiers, a mobile robot can extend its map into new territory until the entire environment has been explored. We describe a method for detecting frontiers in evidence grids and navigating to these frontiers. We also introduce a technique for minimizing specular reflections in evidence grids using laser-limited sonar. We have tested this approach with a real mobile robot, exploring real-world office environments cluttered with a variety of obstacles. An advantage of our approach is its ability to explore both large open spaces and narrow cluttered spaces, with walls and obstacles in arbitrary orientation.

关键词： Mobile robots Orbital robotics Sonar navigation Artificial intelligence Laboratories Testing Humans Indoor environments Space exploration

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2003 ieee Internatinional symposium on Coputational intelligence in robotics and automation [front matter]

2003 IEEE Internatinional Symposium on Coputational Intellig...

引用

ieee international symposium on computational intelligence in robotics and automation (cira)

Conference proceedings front matter may contain various advertisements, welcome messages, committee or program information, and other miscellaneous conference information. This may in some cases also include the cover art, table of contents, copyright statements, title-page or half title-pages, blank pages, venue maps or other general information relating to the conference that was part of the original conference proceedings.

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Neural model of a grid-based map for robot sonar

Neural model of a grid-based map for robot sonar

引用

ieee international symposium on computational intelligence in robotics and automation (cira)

作者： K.D. Harris M. Recce Department of Anatomy and Developmental Biology University College London London UK

A functional similarity is described between cells of an occupancy grid for robot sonar, and integrate-and-fire neurons of an artificial neural net. Using this analogy, a new grid-based mapping system for robot sonar is described, which makes use of the neural concepts of receptive fields and recurrent connections. The performance of the new network is compared to that of a previous Bayesian grid-based mapping method, and a previous feature-based mapping method.

关键词： Sonar Robot sensing systems Robot kinematics Orbital robotics Cells (biology) Neurons Artificial neural networks Space technology Biological neural networks Biological system modeling

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Mathematical formalism for the fast evaluation of the configuration space

Mathematical formalism for the fast evaluation of the config...

引用

ieee international symposium on computational intelligence in robotics and automation (cira)

作者： B. Curto V. Moreno Department Computers and Automation University of Sakamanca Salamanca Spain

In this paper a mathematical formalism for the configuration space evaluation of robots is presented, that tries to optimise the computational time. The use of the proposed method and the choice of a suitable coordinate system, in the workspace, as well as in the configuration space, lead to the fact that the obstacle representation in the configuration space could be seen as a convolution of two functions that describe the robot and the obstacles respectively. The method has been applied to mobile and articulated robots in the two dimensional plane, but its application to the most popular robots can be easily done. Additionally, the computational load is independent of the shape and number of obstacles and of the robot shape. The mathematical tool that has been used is the FFT (fast Fourier transform) since it eases the parallel implementation of the resulting algorithms reducing significantly the computational load.

关键词： Orbital robotics Parallel robots Robot kinematics Convolution Concurrent computing Path planning robotics and automation Shape control Robot control Manipulators

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Developing auditory skills by the SAIL robot

Developing auditory skills by the SAIL robot

引用

ieee international symposium on computational intelligence in robotics and automation (cira)

作者： Yilu Zhang Juyang Weng Department of Computer Science and Engineering Michigan State University East Lansing MI USA

Motivated by the autonomous developmental process of higher animals and humans from infancy to adulthood, the objective of our SAIL developmental robot project is to investigate how to enable a robot to develop its cognitive and behavioral skills through online, real-time interactions with the environment. In other words, our goal is to enable a robot to learn autonomously from real-world experiences. The work presented here focuses on the development of its auditory behaviors. Both simulation results and experiments on real robot are reported.

关键词： Robot sensing systems Human robot interaction Cognitive robotics robotics and automation Training data Computer science Animals Design engineering Robot control Grounding

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Minimal representation multisensor fusion using differential evolution

Minimal representation multisensor fusion using differential...

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ieee international symposium on computational intelligence in robotics and automation (cira)

作者： R. Joshi A.C. Sanderson Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

Fusion of information from multiple sensors is increasingly used in planning and control of robotic systems. The minimal representation approach provides a framework for integrating information from a variety of sources, and uses an information measure as a universal yardstick for fusion. In this paper, we evaluate a differential evolution approach to the search for minimal representation solutions. Experiments in robot manipulation using both tactile and visual sensing demonstrate that this algorithm is effective in solving this difficult search problem, and comparison with a more traditional genetic algorithm shows distinct advantages in both accuracy and efficiency for the differential evolution approach.

关键词： Robot sensing systems Shape robotics and automation Tactile sensors Manufacturing automation Computer aided manufacturing Service robots Robot vision systems Robotic assembly Cameras

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Prediction of moving objects in dynamic environments using Kalman filters

Prediction of moving objects in dynamic environments using K...

引用

ieee international symposium on computational intelligence in robotics and automation (cira)

作者： A. Elnagar Department of Computer Science University of Sharjah Sharjah UAE

In this work, we describe a framework for predicting future positions and orientation of moving obstacles in a time-varying environment using Kalman filtering techniques. No constraint are placed on the obstacles motion. The proposed algorithm can be used in a variety of applications, one of which is robot motion planning in time varying environments. The advantage of using this model compared to reported ones in the literature is it's ability to start the prediction process from the first time step without the need to wait for few time steps before starting the prediction process. Early experimental results are very encouraging.

关键词： Predictive models Motion planning Robot sensing systems Intelligent robots robotics and automation Robot motion Humans Uncertainty Trajectory Computer science

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Parallel path planning with temporal parametrization

Parallel path planning with temporal parametrization

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ieee international symposium on computational intelligence in robotics and automation (cira)

作者： V. Moreno E. Sanz F.J. Blanco Department Computers and Automation University of Sakamanca Salamanca Spain

The automatic generation of robot free-collision paths for accomplishing user-specified tasks is one of the key elements in robotics. Due to the high computational cost involved in the problem, it is very difficult to find solutions achieving online performance. In this paper, a general and new approach that provides this online motion planning capability to robot manipulators, is proposed. The new approach is based on a temporal parametrization of the state variables so that the problem can be seen as an optimal time one. The most advanced technique for path planning using the C-space representation has been applied and a parallel graph search algorithm has been developed with the aim of carrying out this task with a low computational cost. The proposed approach has been tested in real manipulators, it can be easily applied to solve industrial problems.

关键词： Path planning robotics and automation Orbital robotics computational efficiency Manipulators State-space methods Application software Computer industry Robots Concurrent computing

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Q-Learning with adaptive state segmentation (QLASS)

Q-Learning with adaptive state segmentation (QLASS)

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ieee international symposium on computational intelligence in robotics and automation (cira)

作者： H. Murao S. Kitamura Department of Computer and Systems Engineering Faculty of Engineering Kobe University Kobe Hyogo Japan

Q-learning is an efficient algorithm to acquire adaptive behavior of the robot without a priori knowledge of the sensor space and the task. However, there is a problem in applying the Q-learning to the task in the real world-how to construct the state space suitable for the Q-learning without knowledge of the sensor space? In this paper we propose Q-learning with adaptive state segmentation (QLASS). QLASS provides a method to segment the sensor space incrementally, based on sensor vectors and reinforcement signals. Experimental results show that QLASS can segment the sensor space effectively to accomplish the task. Furthermore, we show the obtained state space reveals the fitness landscape.

关键词： Robot sensing systems Orbital robotics State-space methods Neurons Learning Neural networks Knowledge engineering Sensor systems Systems engineering and theory Humans

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