In the paper a novel approach to representation of a history in a mobile robot navigation is presented. The main assumptions and key definitions of the proposed approach are discussed in this paper. An application of ...
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ISBN:
(纸本)9789728865832
In the paper a novel approach to representation of a history in a mobile robot navigation is presented. The main assumptions and key definitions of the proposed approach are discussed in this paper. An application of the method to detection a dead end situations that may occur during the work of reactive navigation systems is presented. The potential field method is used to create an algorithm that gets the robot out of the dead-lock. Simulations that show the effectiveness of the proposed method are also presented.
Networked robotics is an area that straddles robotics and network technology. A robot system controlled via the WWW exploits the Internet network and hence is one realisation of networked robotics. A set of field robo...
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ISBN:
(纸本)9728865600
Networked robotics is an area that straddles robotics and network technology. A robot system controlled via the WWW exploits the Internet network and hence is one realisation of networked robotics. A set of field robots that exploit wireless networks to share and distribute tasks might also be considered an exemplar of networked robotics. But isn't this just an exemplar of distributed robotics? And if so, what does networked robotics bring to the 'robotics' table? These are questions and issues addressed in this paper. The paper will propose that networks are at once both enabling and constraining to robotics. They enlarge the scope of the robotics discipline yet introduce challenges that must be overcome if that potential is to be fully realized. In short, when the network becomes a design issue - normally when performance of the system is at a premium - networked robotics is at play.
Flexibility, throughput, maintainability, scalability, reliability and low cost: That are the main optimization criteria of material flow systems (MFS). The most of this criteria are diametrical and so hardly to impro...
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ISBN:
(纸本)9789896740009
Flexibility, throughput, maintainability, scalability, reliability and low cost: That are the main optimization criteria of material flow systems (MFS). The most of this criteria are diametrical and so hardly to improve considerably with today's existing transportation devices and their static control structures. Hence a new approach of a transportation systems with cooperating robotic units and a novel cognitive environment will be presented. This approach will combine different research areas like robotics and wireless sensor networks to achieve a higher degree of flexibility.
This paper describes a robust localization system, similar to the used by the teams participating in the Robocup Small size league (SLL). The system, developed in Object Pascal, allows real time localization and contr...
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ISBN:
(纸本)9789898111319
This paper describes a robust localization system, similar to the used by the teams participating in the Robocup Small size league (SLL). The system, developed in Object Pascal, allows real time localization and control of an autonomous omnidirectional mobile robot. The localization algorithm is done resorting to odometry and global vision data fusion, applying an extended Kalman filter, being this method a standard approach for reducing the error in a least squares sense, using measurements from different sources.
This paper describes a mobile robotic platform and a software framework for applications and development of robotic experiments integrating teleoperation. and autonomy. An application using supervised learning is deve...
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ISBN:
(纸本)9789728865832
This paper describes a mobile robotic platform and a software framework for applications and development of robotic experiments integrating teleoperation. and autonomy. An application using supervised learning is developed in which the agent is trained by teleoperation. This allows the agent to learn the perception to action mapping from the teleoperator in real time, such that the task can be repeated in an autonomous way, with some generalization. A radial basis function network (RBF) trained by a sequential learning algorithm is used to learn the mapping. Experimental results are shown.
Robots intended for human-robot interaction are currently designed to fill simple roles, such as task completer or tool. The design emphasis remains on the robot and not the interaction, as designers have failed to re...
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ISBN:
(纸本)9789898111319
Robots intended for human-robot interaction are currently designed to fill simple roles, such as task completer or tool. The design emphasis remains on the robot and not the interaction, as designers have failed to recognize the influence of robots on human behavior. Cybernetic models are used to critique existing models and provide revised models of interaction that delineate the paths of social feedback generated by the robot. Proposed robot roles are modeled and evaluated. Features that need to be developed for robots to succeed in these roles are identified and the challenges of developing these features are discussed.
The ANSER project (Airport Night Surveillance Expert Robot) is described, exploiting a mobile robot for autonomous surveillance in civilian airports and similar wide outdoor areas. The paper focuses on the localizatio...
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ISBN:
(纸本)9789728865832
The ANSER project (Airport Night Surveillance Expert Robot) is described, exploiting a mobile robot for autonomous surveillance in civilian airports and similar wide outdoor areas. The paper focuses on the localization subsystem of the patrolling robot, composed of a non-differential GPS unit and a laser rangefinder for map-based localization (inertial sensors are absent). Moreover, it shows that an augmented state vector approach and an Extended Kalman filter can be successfully employed to estimate the colored components in GPS noise, thus getting closer to the conditions for the EKF to be applicable.
robotics is an interesting but difficult area for digital artists who generally don't have much academic background on electronics or computer programming. Digital art students normally use high-level application ...
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ISBN:
(纸本)9789898111319
robotics is an interesting but difficult area for digital artists who generally don't have much academic background on electronics or computer programming. Digital art students normally use high-level application to program their visual and sonorous installations. This paper presents LegOSC - a tool that allows the control of the Mindstorms NXT robots from any application that uses the Open Sound control protocol which is implemented by most of those high-level applications. This allows artists to create works which incorporate robotic parts using the familiar programming environment.
Studies on human visual perception are described. The visual perception is mathematically modelled as a probabilistic process obtaining and interpreting visual information from an environment. By means of this model s...
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Studies on human visual perception are described. The visual perception is mathematically modelled as a probabilistic process obtaining and interpreting visual information from an environment. By means of this model some other vision related concepts, such as visual attention and visual openness, are also mathematically defined. The theoretical considerations are implemented in three applications, namely scene description by perception, visual openness measurement for design, and perceptual robotics.
A challenge for roboticists consists in promoting collaborative robotics for industrial applications, i.e. allowing robots to be used close to humans, without barriers. Safety becomes the key issue. For manipulation t...
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ISBN:
(纸本)9789897581496
A challenge for roboticists consists in promoting collaborative robotics for industrial applications, i.e. allowing robots to be used close to humans, without barriers. Safety becomes the key issue. For manipulation tasks, a part of the problem is solved using new arms like the KUKA LWR, which is able to physically detect a collision from torque measurements on each joint. Nevertheless it is better to avoid collisions, especially if the obstacle is the arm or the head of an operator. This paper describes how obstacles could be detected and avoided, using a single Kinect sensor for the monitoring of the workspace and the reactive planner of the KineoWorks (TM) software library for the real-time selection of an avoidance trajectory. Experimental results are provided as a proof that this dynamic obstacle avoidance strategy works properly.
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