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Navigation of an outdoor service robot by matching 2D laser scans

Navigation of an outdoor service robot by matching 2D laser ...

引用

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

作者： J. Selkdinaho P. Forsman Autom. Technol. Lab. Helsinki Univ. of Technol. Finland Automation Technology Laboratory Helsinki University of Technology TKK Finland

Autonomous navigation of a mobile robot is a challenging task. Much work has been done in indoor navigation in the last 10-15 years. Fewer results have been obtained in outdoor robotics. Laser range finder technology has evolved remarkably over the last decade, and offers a fast and accurate method for navigation and environment modeling. It is obvious that the use of several alternative sensors, selected according to the environment, will make the navigation system more flexible. In this paper we describe a flexible navigation system for unknown outdoor environments. The system uses all available sensor information and emphasizes those that best suit the particular operation environment. The core of the navigation system is laser odometry, which is discussed in more detail.

关键词： Navigation Service robots robotics and automation Mobile robots Sensor systems Robot sensing systems Robot kinematics Laboratories Humans Legged locomotion

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Using sensory-motor phase-plots to characterise robot-environment interactions

Using sensory-motor phase-plots to characterise robot-enviro...

引用

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

作者： N.A. Mirza C.L. Nehaniv K. Dautenhahn Rt. Boekhorst Adaptive Systems Research Group University of Hertfordshire Hertfordshire United Kingdom

Information theoretic methods are used to characterise and identify robot-environment interactions, with a view to using these to build an embodied interaction history from the robot's perspective. A bottom-up approach is taken using uninterpreted raw sensor and motor data. Interactions are analysed by calculating the average information distance (AID) between all sensors and motors over a moving time window and used to create 2D "phase-plots" that can be thought of as describing the current interaction. Sensor-motor AID phase-plots are shown to be able to distinguish simple behaviours among a sequence of behaviours.

关键词： Robot sensing systems Cognition Cognitive robotics Robot kinematics History Sensor phenomena and characterization Information theory Tellurium Adaptive systems Computer science

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Integrating computer vision libraries in networked robotic systems

Integrating computer vision libraries in networked robotic s...

引用

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

作者： E. Cervera Laboratory of Robotic Intelligence Jaume I University Castellon Spain

The niche where computer vision software meets networked robotics remains unfilled so far. Descending costs, and technological advances in wireless communications, digital video capture, and computing power provides roboticists with powerful yet affordable tools to develop cooperative, distributed, vision-based control tasks. This paper presents a consistent framework for such networked, visually-controlled environments, where the main assumption is that video may be captured, processed, and used for control in different machines across the network. To do so, care has been taken in order to ensure efficiency, scalability, and reusability of software. The presented framework aims to seamlessly integrate rock-solid, fast, existing vision processing libraries within a cross-platform, distributed environment, based on Java and agents. Different applications in real setups are envisioned.

关键词： Computer vision Robot vision systems Software libraries Communication system control Costs Wireless communication Distributed computing Distributed control Scalability Software reusability

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An approach for generating high velocity and high acceleration trajectories of industrial robots

An approach for generating high velocity and high accelerati...

引用

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

作者： Yanjie Liu Lining Sun Zhenwei An Harbin Institute of Technology Robotics Institute Harbin China

For fast-motion industrial robots, the limits of the velocity and the acceleration vary over the whole work-space. To make industrial robots move with fully high velocity and high acceleration along the specified trajectory in the entire workspace, a trajectory generation technique for fast-motion industrial robots is presented in this paper. The maximum possible values of the velocity and the acceleration along the specified trajectory are firstly investigated, in consideration of the speed and torque limits of the actuators. Then, based on these maximum velocity and maximum acceleration, the proposed technique generates various motion profiles by using coefficients which are determined by the acceleration and deceleration characteristics. Finally, the experiment is conducted to confirm the proposed technique by commanding a two-degree-of-freedom (2-DOF) direct-drive planar parallel robot to move along the trajectories with the unsymmetrical smooth motion profile generated by the proposed technique.

关键词： Acceleration Service robots Robot kinematics Actuators Character generation Orbital robotics Torque Parallel robots Manufacturing industries Computer numerical control

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Is someone watching me? - consideration of social facilitation effects in human-robot interaction experiments

Is someone watching me? - consideration of social facilitati...

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

作者： S. Woods K. Dautenhahn C. Kaouri School of Computer Science University of Herfordshire Hatfield UK

This discussion paper considers the implications of the psychological phenomena of social facilitation effects for human-robot interaction (HRI) studies. Research studies in HRI have significantly increased over the past few years. Such studies investigate, for example, robot appearance and behaviour, and the responses of subjects to robots. However, the possible effects of the experimental context on results from human-robot interaction studies have attracted little attention. In this paper, we provide an overview of robot trials with children and adults, as part of the Cogniron project. Observations from video footage are reported, with particular consideration for the influence of the social context and social facilitation effects, including task complexity, evaluation context and type of presence on outcomes of human-robot interaction studies. Lessons learnt and future design implications for human-robot interaction studies are provided.

关键词： Human robot interaction Service robots robotics and automation Cognitive robotics Psychology Manufacturing automation Computer science Educational institutions Hospitals Security

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Genetic algorithm for a fuzzy spiking neural network of a mobile robot

Genetic algorithm for a fuzzy spiking neural network of a mo...

引用

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

作者： N. Kubota H. Sasaki Department of System Design Tokyo Metropolitan University Hachioji Tokyo Japan Department of Artificial Intelligence Systems University of Fukui Bunkyo Fukui Japan

It is very difficult to design the learning structure of a robot beforehand in an unknown and dynamic environment, because the dynamics of the environment is unknown. Therefore, this paper proposes a fuzzy spiking neural network (FSNN) for behavior learning of a mobile robot. Furthermore, the network structure of the FSNN should be adaptive to the environmental condition. In this paper, we apply a steady-state genetic algorithm for acquiring the suitable network structure through the interaction with the environment. The simulation results show the robot can update the network structure and learn the weights of FSNN according to the spatio-temporal context of the facing environment.

关键词： Genetic algorithms Fuzzy neural networks Neural networks Mobile robots Robot sensing systems Artificial neural networks Intelligent robots Fuzzy control Learning Fuzzy systems

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Reactive and deliberative control and cooperation in multi-agent system based process automation

Reactive and deliberative control and cooperation in multi-a...

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

作者： Ilkka Seilonen Kari Koskinen Teppo Pirttioja Pekka Appelqvist Aarne Halme Information and Computer Systems in Automation Helsinki University of Technology Espoo Finland

An approach to intelligent process automation based on a society of BDI-agents is presented in this paper. According to this approach a higher-level multi-agent systems based automation layer supervises an ordinary process automation system. The purpose of the agent layer is to monitor the operation of the lower-level automation system and semi-autonomously reconfigure its control logic when needed. The agent layer operates as a multi-agent system consisting of BDI-agents, which cooperatively create and run reconfiguration sequences on the ordinary automation system in order to adapt its control logic to various situations. The adaptation process may take place both in reactive and deliberative fashion. In this way the approach aims to increase the flexibility and responsiveness properties of the automation system. The approach is demonstrated with a laboratory test process where process startup and fault recovery experiments have been performed. Results from the experiments are described.

关键词： Automatic control Control systems Multiagent systems automation Reconfigurable logic Computerized monitoring Delay Laboratories Testing Performance evaluation

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Multiactor approach and hexapod robot learning

Multiactor approach and hexapod robot learning

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

作者： Y. Zennir P. Couturier UMR CNRS 8146 U.S. T.L.-Polytech 'Lille LAGIS Villeneuve d'Ascq France Ecole des Mines d'Alès CLGI2P-site EERIE Nimes France

This paper presents a multiactor approach of the Q-learning used to teach a hexapod robot to control its trajectory. So, each actor participating to the same global task performs its own learning process taking into account or not the other agents. As any actor "leg of hexapod robot" cannot achieve its movements without interacting with others, co-ordination may be set up. This "co-ordination with actors" approach is applied to solve the problems of displacement, trajectory and posture control of a hexapod robot in its environment. The efficiency of the approach is validated through simulation results.

关键词： Robot kinematics Legged locomotion Learning Leg Cognitive robotics Orbital robotics Robot control Displacement control Mobile robots Control systems

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Low-cost positioning system for agricultural vehicles

Low-cost positioning system for agricultural vehicles

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

作者： T. Oksanen M. Linja A. Visala Automation Technology Laboratory Helsinki University of Technology Finland

Accurate positioning is needed for agricultural vehicles now and in the future. Position is currently needed for mapping, precision farming, auto-steering vehicles and light-bar navigation and in the future for agrorobotic solutions. Although the accuracy of GPS based positioning can be improved using differential or RTK-solutions, such application may be too highly-priced. In this paper tractor positioning with a cheap GPS-receiver is improved by using inertial navigation and odometry. Kalman filtering is used for sensor fusion. In compensation of the bias type slow error in GPS measurements the low cost additional measurements are not sufficient. However, positioning in blind areas of GPS can be done with them.

关键词： Vehicles Agricultural machinery Global Positioning System Sensor fusion Costs Position measurement Navigation Automatic control Wheels ISO standards

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An architecture for sentient GPRS-enabled MicroBots

An architecture for sentient GPRS-enabled MicroBots

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

作者： D.L. de Ipina J.I. Vazquez J.R. de Garibay D. Sainz Faculty of Engineering (ESIDE) Universidad de Deusto Bilbao Spain Deusto Foundation Universidad de Deusto Bilbao Spain

Ambient intelligence is a user-centered concept which combines several computing disciplines with the purpose of enhancing/facilitating the user's daily activities. We deem that autonomous or semiautonomous (remotely controlled) sentient MicroBots may also be first-class citizens within ambient intelligence. Those MicroBots would interact with their surrounding environment assisted by their built-in sensors, effectors and communication facilities, on behalf of the users they serve. In essence, they would also profit as users do from Ambient intelligence to achieve their programmed goals. In this paper, we contribute with a solution to enable the realtime remote control of GPRS-accessible semiautonomous sentient MicroBots. Moreover, we discuss the extensions necessary to convert those MicroBots into care assistants for disabled and elderly people.

关键词： Ambient intelligence Communication system control Context Ground penetrating radar Pervasive computing Orbital robotics Robot sensing systems Intelligent sensors Service robots Mars

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