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Temporal Logic Motion Planning for Mobile Robots

Temporal Logic Motion Planning for Mobile Robots

引用

ieee international Conference on robotics and automation (ICRA)

作者： G.E. Fainekos H. Kress-Gazit G.J. Pappas GRASP Laboratory Departments of ESE and CIS University of Pennsylvania Philadelphia PA USA

In this paper, we consider the problem of robot motion planning in order to satisfy formulas expressible in temporal logics. Temporal logics naturally express traditional robot specifications such as reaching a goal or avoiding an obstacle, but also more sophisticated specifications such as sequencing, coverage, or temporal ordering of different tasks. In order to provide computational solutions to this problem, we first construct discrete abstractions of robot motion based on some environmental decomposition. We then generate discrete plans satisfying the temporal logic formula using powerful model checking tools, and finally translate the discrete plans to continuous trajectories using hybrid control. Critical to our approach is providing formal guarantees ensuring that if the discrete plan satisfies the temporal logic formula, then the continuous motion also satisfies the exact same formula.

关键词： Logic Motion planning Mobile robots Automatic control Robot motion Control systems Laboratories computational intelligence Society Power generation Hybrid power systems

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Robust Object Detection at Regions of Interest with an Application in Ball Recognition

Robust Object Detection at Regions of Interest with an Appli...

引用

ieee international Conference on robotics and automation (ICRA)

作者： S. Mitri S. Frintrop K. Pervolz H. Surmann A. Nuchter Schloss Birlinghoven Fraunhofer Institute for Autonomous Intelligent System Sankt Augustin Germany Institute for Computer Science Knowledge-Based Systems Research Group University of Osnabrück Osnabruck Germany

In this paper, we present a new combination of a biologically inspired attention system (VOCUS – Visual Object detection with a computational attention System) with a robust object detection method. As an application, we built a reliable system for ball recognition in the RoboCup context. Firstly, VOCUS finds regions of interest generating a hypothesis for possible locations of the ball. Secondly, a fast classifier verifies the hypothesis by detecting balls at regions of interest. The combination of both approaches makes the system highly robust and eliminates false detections. Furthermore, the system is quickly adaptable to balls in different scenarios: The complex classifier is universally applicable to balls in every context and the attention system improves the performance by learning scenario-specific features quickly from only a few training examples.

关键词： Robustness Object detection Application software Phase detection Classification tree analysis Intelligent systems computational intelligence Computer science Knowledge based systems Biology

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Adaptive genetic algorithm's implement on evaluation function in computer Chinese chess

Adaptive genetic algorithm's implement on evaluation functio...

引用

international symposium on Communications and Information Technologies (ISCIT)

作者： Wang Jiao Luo Yan-hong Qiu Dong-ni Xu xin-he Wang Jiao Institute of Al and Robotics Northeastern University Shenyang China Luo Yan-hong Automation Institute Northeastern University Shenyang China Qiu Dong-ni Institute of Computer Software and Theory Northeastern University Shenyang China Xu xin-he Institute of Al and Robotics Northeastern University Shenyang China

Adaptive genetic algorithm (AGA) is used to solve the problem of computer Chinese Chess . The system is divided into four parts: searching engine, move generator, evaluation function, opening book. Then AGA is brought into evaluation function and the parameters' combination of evaluation function is automatically adjusted and optimized by using tournament algorithm. An independent self-study system is designed based on the above methods. The experiment results show the AGA increases the power of our program.

关键词： robotics and automation Genetic algorithms Search engines Books Artificial intelligence Software Digital arithmetic Pattern recognition Production

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Evolutionary swarm intelligence applied to robotics

Evolutionary swarm intelligence applied to robotics

引用

ieee international Conference on Mechatronics and automation

作者： S.N. Givigi H.M. Schwartz Department of Systems and Computer Engineering Carleton University Ottawa ONT Canada

In this paper, we discuss some techniques for achieving swarm intelligent robots through the use of traits of personality. Traits of personality are characteristics of each robot that, altogether, define the robot's behaviours. We discuss the use of evolutionary psychology in order to select a set of traits of personality that evolve due to a learning process based on reinforcement learning. The use of game theory is introduced and a simulation showing its potential is reported.

关键词： Particle swarm optimization Intelligent robots Game theory Robot sensing systems Predictive models computational modeling Systems engineering and theory Psychology Learning Biological system modeling

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Operator Friendly Common Sense Controller with Experimental Verification Using LabVIEW

Operator Friendly Common Sense Controller with Experimental ...

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ieee international symposium on Intelligent Control (ISIC)

作者： F. Mrad S.H. Dandach S. Azar G. Deeb Department of Electrical and Computer Engineering American University of Beirut Beirut Lebanon

Conventional controllers are generally designed for a system with a known transfer function. This often requires computational modeling of the process, which can be complex, and sometimes unjustified. Adaptive and intelligent controllers have been proposed to handle uncertain or unknown systems. However, these general-purpose schemes require technical expertise for their design and implementation. This paper discusses the design of a fuzzy logic controller that drives an arbitrary process to a desired reference, and does not require expert control knowledge for implementation. The result is an operator-friendly, general-purpose fuzzy controller, coined "common sense controller (CSC)". Experimental verification was conducted using the graphical programming environment LabVIEWtrade

关键词： Control systems Transfer functions computational modeling Programmable control Adaptive control computational intelligence Fuzzy logic Drives Fuzzy control Programming environments

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Experimental Studies of a Neural Oscillator for Biped Locomotion with QRIO

Experimental Studies of a Neural Oscillator for Biped Locomo...

引用

ieee international Conference on robotics and automation (ICRA)

作者： Gen Endo Jun Nakanishi Jun Morimoto G. Cheng Sony Intelligence Dynamics Laboratories Inc. Tokyo Japan ATR Computational Neuroscience Laboratories Kyoto Japan

Recently, there has been a growing interest in biologically inspired biped locomotion control with Central Pattern Generator (CPG). However, few experimental attempts on real hardware 3D humanoid robots have yet been made. Our goal in this paper is to present our achievement of 3D biped locomotion using a neural oscillator applied to a humanoid robot, QRIO. We employ reduced number of neural oscillators as the CPG model, along with a task space Cartesian coordinate system and utilizing entrainment property to establish stable walking gait. We verify robustness against lateral perturbation, through numerical simulation of stepping motion in place along the lateral plane. We then implemented it on the QRIO. It could successfully cope with unknown 3mm bump by autonomously adjusting its stepping period. Sagittal motion produced by a neural oscillator is introduced, and then overlapped with the lateral motion generator in realizing 3D biped locomotion on a QRIO humanoid robot.

关键词： Oscillators Legged locomotion Humanoid robots Robustness Hardware Neurofeedback Robot kinematics Laboratories Biology computing Biological control systems

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Rehabilitation robot in intelligent home environment - software architecture and implementation of a distributed system

Rehabilitation robot in intelligent home environment - softw...

引用

ieee international Conference on Rehabilitation robotics (ICORR)

作者： O. Prenzel J. Feuser A. Graser Institute of Automation University of Brethemen Bremen Germany

Rehabilitation robots (e.g. FRIEND as intelligent wheelchair mounted manipulator) are being developed to gain their user's autonomy within daily life environment. To prevent a high cognitive load onto the user, task input on a high level of abstraction is mandatory. State-of-the-art rehabilitation robots are still not capable to integrate fragments of intelligent behavior into an overall context and to solve complex tasks. A basic problem is how to cope with system complexity as well as computational complexity that evolve during task planning. A compromise towards feasibility is to equip the system's environment with smart components that provide own intelligence and thus reduce the complexity of the robotic system. However, a structured approach is necessary to fuse the distributed intelligence. This paper is about the concept and realization of a software-framework being able to execute autonomous system operations together with information retrieving capabilities and user interactions within a distributed system. Key aspects of development have been to provide robust run-time behavior of the system along with the inclusion and resolving of redundant sensor information as well as to reduce the effort of system programming to a minimum. The application of the developed framework is demonstrated on base of sample steps of its integration with the FRIEND II rehabilitation robotic system within an intelligent home environment.

关键词： Intelligent robots Rehabilitation robotics Software architecture Mobile robots Cognitive robotics computational intelligence Intelligent sensors Wheelchairs Manipulators computational complexity

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A Type-2 Fuzzy Controller for Tracking Mobile Objects in the Context of Robotic Soccer Games

A Type-2 Fuzzy Controller for Tracking Mobile Objects in the...

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ieee international Conference on Fuzzy Systems (FUZZ-ieee)

作者： J. Figueroa J. Posada J. Soriano M. Melgarejo S. Rojas Laboratory of Automation Microelectronics and Computational Intelligence Universidad Distrital Francisco José de Caldas Bogota Colombia Department of Computer Science University College London London UK

This paper presents a type-2 fuzzy logic controller for a robotic agent intended to track a mobile object in the context of robot soccer games. The controller has two inputs and two outputs that are logically connected by four rules. Image processing is used to estimate the angle between the agent and the target, which introduces uncertainty in the control loop. Other sources of uncertainty related to defects in the control loop have been identified. In this sense, the paper explores how the type-2 controller overcomes those sources without incrementing the computational cost of the application

关键词： Fuzzy control Mobile robots Uncertainty Fuzzy logic computational efficiency Fuzzy sets robotics and automation Image processing Control systems Automatic control

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Matrix computational Framework for Discrete Event Control of Wireless Sensor Networks with Some Mobile Agents

Matrix Computational Framework for Discrete Event Control of...

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ieee international symposium on Intelligent Control (ISIC)

作者： V. Giordano F.L. Lewis B. Turchiano P. Ballal V. Yeshala Dipartimento di Elettrotecnica Elettronica Politecnico di Bari Bari Italy Robotics and Automation Research Institute University of Texas Arlington Fort Worth TX USA

This paper presents a discrete-event controller (DEC) for the coordination of cooperating heterogeneous wireless sensors, namely unattended ground sensors and mobile robots. It describes a new method for efficient computer aided control design of a wireless sensor network. The DEC sequences the most suitable tasks for each agent according to the current perception of the environment. A novel matrix formulation makes the assignment of the mission planning straightforward and easily adaptable if agents or applications change. The matrices are direct to write down given the sequence rules for a given task. Priority rules for efficiently dispatching shared resources and handling simultaneous missions can also be easily taken into account. This architecture holds out the hope to endow a wireless sensor network with efficient self-organization mechanisms in order to accomplish a broad range of different missions in a variety of scenarios. The matrix formulation also provides a straightforward technique for computer simulation of DE systems. Simulation examples are presented to show the effectiveness and versatility of the proposed control architecture

关键词： Computer networks Wireless sensor networks Mobile agents Computer architecture Mobile robots Control design Application software Dispatching Computer simulation computational modeling

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A new simulation tool for action-oriented perception systems

A new simulation tool for action-oriented perception systems

引用

international Conference on Emerging Technologies and Factory automation (ETFA)

作者： P. Arena L. Fortuna M. Frasca G.L. Turco L. Patane R. Russo Dipartimento di Ingegneria Elettrica Elettronica e dei Sistemi Universitá degli Studi di Catania Catania Italy

In the last years, in the area of bio-inspired robotics, the research activity has been directed to high level aspects that includes psychological theories and behavioral approaches. In this paper a new simulation tool for perceptive system based on the sensing-perception-action loop is proposed. The framework has been designed to evaluate the performance of control strategies applied to the navigation of autonomous robots. The tool can be used to create a 3D environment in which the exploring capabilities of a robot executing a navigation task such as for example a food retrieval task, can be evaluated. The behavior of the system is monitored with the help of a 3D real-time visualizer supported by a graphic representations of the trajectory followed

关键词： Robot sensing systems Navigation Intelligent robots computational modeling Psychology Visualization Artificial intelligence Cognitive robotics Animals Animation

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