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检索条件"任意字段=International Asia Conference on Informatics in Control, Automation, and Robotics"

共 1478 条记录，以下是171-180 订阅

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Robust multi-robot cooperation through dynamic task allocation and precaution routines

Robust multi-robot cooperation through dynamic task allocati...

引用

3rd international conference on informatics in control, automation and robotics

作者： Sariel, Sanem Balch, Tucker Erdogan, Nadia Istanbul Tech Univ Dept Comp Engn TR-80626 Istanbul Turkey Georgia Inst Technol Coll Comp Atlanta GA 30332 USA

ISBN: (纸本)9728865600

In this paper, we present the design and implementation of a multi-robot cooperation framework to collectively execute inter-dependent tasks of an overall complex mission requiring diverse capabilities. Given a heterogeneous team of robots and task dependencies, the proposed framework provides a distributed mechanism for assigning tasks to robots in an order that efficiently completes the mission. The approach is robust to unreliable communication and robot failures. It is a distributed auction-based approach, and therefore scalable. In order to obtain optimal allocations, effective bid evaluations are needed. Additionally to maintain optimality in noisy environments, dynamic re-allocations of tasks are needed as implemented in dynamic task selection and coalition maintenance scheme that we propose. Real-time contingencies are handled by recovery routines, called Plan B precautions in our framework. Here, in this paper, we present performance results of our framework for robustness in simulations that include variable message loss rates and robot failures. Experiments illustrate robustness of our approach against several contingencies.

关键词： distributed AI robotics multi-agent systems

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Neuroevolution with CMA-ES for Real-time Gain Tuning of a Car-like Robot controller 16

Neuroevolution with CMA-ES for Real-time Gain Tuning of a Ca...

引用

16th international conference on informatics in control, automation and robotics (ICINCO)

作者： Hill, Ashley Lucet, Eric Lenain, Roland CEA LIST Interact Robot Lab F-91191 Gif Sur Yvette France Univ Clermont Auvergne Irstea UR TSCF Ctr Clermont Ferrand F-63178 Aubiere France

ISBN: (纸本)9789897583803

This paper proposes a method for dynamically varying the gains of a mobile robot controller that takes into account, not only errors to the reference trajectory but also the uncertainty in the localisation. To do this, the covariance matrix of a state observer is used to indicate the precision of the perception. CMA-ES, an evolutionary algorithm is used to train a neural network that is capable of adapting the robot's behaviour in real-time. Using a car-like vehicle model in simulation. Promising results show significant trajectory following performances improvements thanks to control gains fluctuations by using this new method. Simulations demonstrate the capability of the system to control the robot in complex environments, in which classical static controllers could not guarantee a stable behaviour.

关键词： Neuroevolution Machine Learning Neural Network Evolution Strategies Gradient-free Optimization robotics Mobile Robot control Theory Gain Tuning Adaptive control

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A Task Space Approach for Planar Optimal Robot Tube Following 13

A Task Space Approach for Planar Optimal Robot Tube Followin...

引用

13th international conference on informatics in control, automation and robotics (ICINCO)

作者： Oberherber, Matthias Gattringer, Hubert Mueller, Andreas Schachinger, Michael Johannes Kepler Univ Linz Inst Robot Altenberger Str 69 Linz Austria

ISBN: (纸本)9789897581984

The classical optimal path following problem considers the problem of moving optimally along a predefined geometric path under technological restrictions. In contrast to optimal path following, optimal tube following allows deviations from the initial path within a predefined tube to reduce cost even more. The present paper proposes a modern approach that treats this non-convex problem in task space. This novel method also provides a simple way to derive optimal trajectories within a tube described in terms of polygonal lines. Numerical examples are presented that allow to compare the proposed method to existing joint space approaches.

关键词： robotics Optimal Path Planning Optimal Tube Following Dynamic Modeling Polygonal Paths

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Optimization for Solving Workcell Layouts using Gaussian Penalties for Escaping Local Minima 14

Optimization for Solving Workcell Layouts using Gaussian Pen...

引用

14th international conference on informatics in control, automation and robotics (ICINCO)

作者： Iversen, Thomas Fridolin Ellekilde, Lars-Peter Univ Southern Denmark Maersk McKinney Moller Inst Campusvej 55 DK-5230 Odense M Denmark

ISBN: (纸本)9789897583049

The main contribution of this paper is a method for optimizing the layout of workcells taking into consideration both the reachability of the robot as well as the expected cycle time. To analyse the reachability for systems using sensors to pose estimate objects, the method uses a combination of discrete samples over the space in which objects are located and a manipulability measure based on the determinant of the manipulator Jacobian. To compute the expected cycle time for the robot, the method includes a simulated controller, which is optimized to estimate the performance of the physical robot. For the optimization of the workcell layout the proposed method based on applying Gaussian penalties in local minima is compared to three existing methods for global optimization. For the optimization of the simulated controller three different local methods are compared along with one global.

关键词： Robot Workcell Optimization Optimization Algorithms Industrial robotics

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TELEOPERATION OF A MOBILE ROBOT VIA UMTS LINK

TELEOPERATION OF A MOBILE ROBOT VIA UMTS LINK

引用

6th international conference on informatics in control, automation and robotics

作者： Zeiger, Florian Sauer, Markus Stolz, Lothar Schilling, Klaus Zentrum Telemat eV Allesgrundweg 12 Gerbrunn Germany

ISBN: (纸本)9789896740009

Nowadays available broadband wireless communication technologies offer a broad spectrum of applications and the todays availability of UMTS technology has a great potential in the area of networked robotics. This work investigates teleoperation of mobile robots via UMTS communication links. First, several scenarios with artificially generated command traffic between mobile robot and operator are analyzed in order to gain knowledge of the link behavior. In a next step real mobile robot hardware is remote controlled via UMTS. Thereby, the robot transmits sensor data and a video stream of its onboard camera while receiving commands from the operator. The focus of this work is set on the measurement and analysis of the round trip time and the packet inter-arrival time of data in different scenarios like the connection of two UMTS nodes, the connection of an Internet PC and an UMTS node, or the behavior of several UMTS nodes generating a large amount of data. The results clearly show how applications for mobile robot teleoperation can efficiently use UMTS communication in order to allow seamless teleoperation between operator and hardware in distant locations.

关键词： Networked robotics Teleoperation UMTS Wireless teleoperation Wireless networks of robots

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Combining Onthologies and Behavior-based control for Aware Navigation in Challenging Off-road Environments 16

Combining Onthologies and Behavior-based Control for Aware N...

引用

16th international conference on informatics in control, automation and robotics (ICINCO)

作者： Wolf, Patrick Ropertz, Thorsten Feldmann, Philipp Berns, Karsten TD Kaiserslautern Dept Comp Sci Robot Res Lab Kaiserslautern Germany

ISBN: (纸本)9789897583803

Autonomous navigation in off-road environments is a challenging task for mobile robots. Recent success in artificial intelligence research demonstrates the suitability and relevance of neural networks and learning approaches for image classification and off-road robotics. Nonetheless, meaningful decision making processes require semantic knowledge to enable complex scene understanding on a higher abstraction level than pure image data. A promising approach to incooperate semantic knowledge are ontologies. Especially in the off-road domain, scene object correlations heavily influence the navigation outcome and misinterpretations may lead to the loss of the robot, environmental, or even personal damage. In the past, behavior-based control systems have proven to robustly handle such uncertain environments. This paper combines both approaches to achieve a situation-aware navigation in off-road environments. Hereby, the robot's navigation is improved using high-level off-road background knowledge in form of ontologies along with a reactive, and modular behavior network. The feasibility of the approach is demonstrated within different simulation scenarios.

关键词： Off-road robotics Ontology Behavior-based control Navigation Simulation

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Investigation of Non-circular Scanning Trajectories in Robot-based Industrial X-ray Computed Tomography of Multi-material Objects 16

Investigation of Non-circular Scanning Trajectories in Robot...

引用

16th international conference on informatics in control, automation and robotics (ICINCO)

作者： Landstorfer, Peter Herl, Gabriel Hiller, Jochen Fraunhofer Applicat Ctr CTMT Dieter Gorlitz Pl 2 D-94469 Deggendorf Germany Deggendorf Inst Technol Dieter Gorlitz Pl 1 D-94469 Deggendorf Germany

ISBN: (纸本)9789897583803

In this work the application of six-axis robots for robot-based industrial X-ray computed tomography (CT) imaging is investigated. In contrast to classical Cartesian manipulators with a turntable used in industrial cone-beam CT, robots offer increased flexibility regarding scanning trajectories. The increased flexibility with respect to scanning trajectories helps to gather highly informative content from alternative ray paths for a high-quality 3D reconstruction of the object to be scanned. Using numerical simulations we show that this additional informations increase the image quality of a CT scan of a multi-material measuring object, consisting of tantalum spheres and a carbon structure.

关键词： X-ray Computed Tomography X-ray Simulation robotics Robot-based Imaging Scanning Trajectory

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Singular and non-singular path following control of a wheeled mobile robot of (2,0) type

Singular and non-singular path following control of a wheele...

引用

10th international conference on informatics in control, automation and robotics, ICINCO 2013

作者： Plaskonka, Joanna Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Janiszewskiego 11/17 Wroclaw Poland

ISBN: (纸本)9789898565716

This paper relates to the problem of a path following task for a wheeled mobile platform of (2,0) type. Two kinematic control algorithms, Micaelli-Samson algorithm and Soetanto-Lapierre-Pascoal algorithm, which are based on either the Serret-Frenet frame with an orthogonal projection or the Serret-Frenet frame with a nonorthogonal projection of a robot on the desired path, were presented. The additional condition that should be imposed on the function δ, which is a parameter depending on a linear velocity of the robot and on a distance error, was described. The influence of the function δ on the convergence of the non-singular algorithm has been shown using computer simulations.

关键词： Mobile robots

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A Domain Specific Language for Robot Programming in the Wood Industry A Practical Example 14

A Domain Specific Language for Robot Programming in the Wood...

引用

14th international conference on informatics in control, automation and robotics (ICINCO)

作者： Jimenez, Victor Juan Exposito Zeiner, Herwig JOANNEUM RES Forsch Gesell MbH DIGITAL Inst Informat & Commun Technol Steyrergasse Graz Austria

ISBN: (纸本)9789897583049

Domain Specific Languages (DSL) are being used in several fields of industry. This paper shows how a DSL can be used in the wood industry, automizing some tasks through the use of robots. In this paper we also implement a syntax to define robot instructions inside a high-level abstraction layer to simplify these instructions and to develop a reliable tool for developers in order to avoid errors and allow for faster development. This paper also covers considerations on how to choose the kind of DSL that best fulfills our requirements and provides an example described in detail.

关键词： Domain Specific Language Functional Programming F# Wood Industry robotics

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A Hybrid Visualization of the Environment using Smart Ultrasound-based Sensor Arrays 13

A Hybrid Visualization of the Environment using Smart Ultras...

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13th international conference on informatics in control, automation and robotics (ICINCO)

作者： Sokic, Emir Softic, Kenan Ferizbegovic, Mina Zubaca, Jasmina Ahic-Djokic, Melita Fac Elect Engn Sarajevo Bosnia & Herceg

ISBN: (纸本)9789897581984

This paper presents the work in progress on the design and testing of a distributed ultrasound-based sensory system for hybrid 1D and 2D environment visualisation. Many common sensors used in robotics, such as infrared and ultrasonic sensors, cameras and lasers mainly focus on quantifying distances and shapes, while rarely have the ability to differentiate among different sensed surfaces/materials. We propose an inexpensive prototype sensory system based on popular ultrasonic sensors which uses ultrasonic reflections to determine the acoustic reflection coefficients. This additional feature allows differentiating among sensed objects. Moreover, the developed ultrasonic cells are equipped with a microcontroller for basic signal processing and a communication link for integration into a sensor network. In this paper, we discuss the possibility of fusing obtained sensor array data and laser measurements.

关键词： Sensory System Environment Analysis Distributed System Ultrasound Laser Sensor robotics

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