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

共 3101 条记录，以下是241-250 订阅

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Fast Sampling-based Next-Best-View Exploration Algorithm for a MAV

Fast Sampling-based Next-Best-View Exploration Algorithm for...

引用

IEEE international Conference on robotics and automation (ICRA)

作者： Respall, Victor Massague Devitt, Dmitry Fedorenko, Roman Klimchik, Alexandr Innopolis Univ Ctr Technol Robot & Mechatron Components Innopolis Russia

ISBN: (纸本)9781728190778

In this work, we present a new exploration algorithm for Micro Aerial Vehicles (MAVs). The planner uses a combination of Next-Best-View (NBV) sampling and frontier-based approaches to reduce the impact of finding unexplored areas in large scenarios. For each sampled point, the yaw angle is optimized to maximize the potential gain for mapping. The gain is expressed as a ratio between the exploration objective and the time it would take to reach the pose, thus, balancing the nearby exploration and global coverage. We reduce the gain computation bottleneck in the sampling strategy by managing a dual-map with different resolutions. The planner maintains a history graph, with nodes that indicate regions of interest for map expansion. We demonstrate the abilities of the proposed algorithm with simulations and real-world experiments. The results outperform state-of-the-art methods in exploration time and computational cost.

关键词： Three-dimensional displays automation computational modeling Conferences computational efficiency History

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IkeaBot: An Autonomous Multi-Robot Coordinated Furniture Assembly System

IkeaBot: An Autonomous Multi-Robot Coordinated Furniture Ass...

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IEEE international Conference on robotics and automation (ICRA)

作者： Knepper, Ross A. Layton, Todd Romanishin, John Rus, Daniela MIT Comp Sci & Artificial Intelligence Lab Cambridge MA 02139 USA

ISBN: (纸本)9781467356411;9781467356435

We present an automated assembly system that directs the actions of a team of heterogeneous robots in the completion of an assembly task. From an initial user-supplied geometric specification, the system applies reasoning about the geometry of individual parts in order to deduce how they fit together. The task is then automatically transformed to a symbolic description of the assembly-a sort of blueprint. A symbolic planner generates an assembly sequence that can be executed by a team of collaborating robots. Each robot fulfills one of two roles: parts delivery or parts assembly. The latter are equipped with specialized tools to aid in the assembly process. Additionally, the robots engage in coordinated co-manipulation of large, heavy assemblies. We provide details of an example furniture kit assembled by the system.

关键词： computational geometry furniture grippers mobile robots multi-robot systems robotic assembly

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Job shop scheduling under time-of-use electricity prices 18

Job shop scheduling under time-of-use electricity prices

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18th international Conference on Control automation robotics and Vision

作者： Dai, Jingwei Yu, Yaowen Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Wuhan 430074 Peoples R China

ISBN: (纸本)9798331518509;9798331518493

Job shop scheduling is an important problem in the operations of manufacturing systems and has great potential for improving electricity efficiency. This paper studies an energy-aware job shop scheduling problem that aims to minimize the total energy cost and total weighted tardiness by selecting an optimal job schedule, considering operation and other constraints. To efficiently model operation constraints and to consider different machine types, a new set of linear integer constraints is developed. The energy-aware job shop scheduling problem considering time-of-use (TOU) electricity prices is then formulated as a mixed-integer linear programming (MILP) problem and solved using the branch-and-cut method. Numerical results tested against three examples demonstrate the computational efficiency and solution quality of our method.

关键词： Mixed-integer linear programming

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Potentially distributable energy: Towards energy autonomy in large population of mobile robots

Potentially distributable energy: Towards energy autonomy in...

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2007 IEEE international symposium on computational intelligence in robotics and automation, CIRA 2007

作者： Ngo, Trung Dung Raposo, Hector Schiøler, Henrik IEEE Center for Embedded Software Systems Aalborg University 9220 Aalborg Denmark Control and Automation Section Electronics Institute 9220 Aalborg Denmark

ISBN: (纸本)1424407907

We propose a new concept, potentially distributable energy, in the field of autonomous mobile robots. Considering a system of multiple robots powered by batteries, each robot no longer works since its energy capacity is expired. To extend operating time, the robot needs to replenish energy through recharging energy. To date, except research on vaccum cleaning robots that are able to recharge battery when docking with the fixed station has been achieved, there does not exist any research of energy distribution to prolong operating time in a large population of mobile robots. This could be caused by the lack of using rechargeable battery in the fact that the robot has to normally spend the charging-time much longer than the operating time. This paper presents simulation results of mobile robots that are capable of not only self-recharging energy but also exchanging batteries to the other robots. Initially, we describe a simulation of multiple mobile robots, and then issue rules of battery exchange, which is formulated under constraints of workload, distance and remaining capacity. The simulation shows that: (a) a robot is able to be energetically autonomous if its energy can be replenished by the other robots or it is able to come back to the main charging station to replenish itself;(b) energy of a robot is always under constraints of energy distribution of the mother charging station and the other robots;(c) distributed energy balance is the main elements to decide a number of robots in a specific area and an ideal location of the repository when one wants to deploy a large population of autonomous mobile robots. Finally, based on results of the simulation we adjust rules for our real multirobot system. © 2007 IEEE.

关键词： Mobile robots

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A Fast and Approximate Medial Axis Sampling Technique

A Fast and Approximate Medial Axis Sampling Technique

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IEEE international Conference on robotics and automation (ICRA)

作者： Denny, Jory Qin, David Zhou, Hanglin Univ Richmond Dept Math & Comp Sci SpiRoL Spider Robot Lab Richmond VA 23173 USA

ISBN: (纸本)9781728190778

One key aspect to planning safe motions for a robot requires maintaining a minimum distance from obstacles. The medial axis, or the set of all points equidistant to two or more obstacles, is useful for planning in this context. However, it is computationally intensive to compute this structure directly. As such, prior research proposed directly sampling this structure to avoid its explicit computation. In this paper, we revisit the computational cost of these sampling-based techniques for motion planning, and we propose a novel approximation algorithm that significantly reduces the necessary collision detection invocations in generating samples near the medial axis. At its core, our technique approximates the clearance of a configuration by reasoning about the clearance of nearby configurations. Ultimately, our approach reduces the computational burden of planning on or near the medial axis.

关键词： Costs automation Conferences Approximation algorithms Cognition Planning computational efficiency

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Extending the Target-Search Algorithm for Kilobots by Adding Random Walk Behavior 9

Extending the Target-Search Algorithm for Kilobots by Adding...

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9th international Conference on automation, robotics and Applications (ICARA)

作者： Troxler, Michael Dornberger, Rolf Hanne, Thomas Univ Appl Sci & Arts Northwestern Switzerland Sch Business Olten Basel Switzerland Univ Appl Sci & Arts Northwestern Switzerland Inst Informat Syst Basel Switzerland Univ Appl Sci & Arts Northwestern Switzerland Inst Informat Syst Olten Switzerland

ISBN: (纸本)9781665489218

This paper discusses the moving behavior of Kilobots, particularly target search and collision avoidance. When using minimalistic robots (e.g., Kilobots), the approach to develop an algorithm is limited by computational power and sensorial functionality. Therefore, Kilobots help examine the challenges of limited simple medical nanorobots. In this paper, an algorithm is presented which is an extension of target-search and collision avoidance by introducing random walk behavior using the Levy distribution. The results show that the random walk behavior improves the movement of Kilobots in some respects. The robots tend to discover an unknown area more efficiently in a specific time. In addition, the robots are less likely to get stuck on boarders and obstacles. On the other hand, the introduced random walk does not improve the ability of target search and collision avoidance.

关键词： collision avoidance Kilobot random walk target-search Levy distribution V-REP

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Design of A 1.5-V 3-5 GHz CMOS Low-Voltage Transformer-Based Low Noise Amplifier with TR Switch for computational intelligence Applications 9

Design of A 1.5-V 3-5 GHz CMOS Low-Voltage Transformer-Based...

引用

9th international symposium on computational intelligence and Design (ISCID)

作者： Lai, Wen Cheng Su, Yen-Jung Natl Taiwan Univ Sci & Technol Dept Elect Engn Taipei Taiwan

ISBN: (纸本)9781509035588

An integrated T/R switch designed to protect low-noise amplifier (LNA) circuits in CMOS transceivers is reported. A 1.5-V 3-5 GHz low-noise amplifier utilizing on-chip transformer and gain boosting in cascode stage is fabricated by TSMC 0.18um CMOS process. The transformer-based LNA is realized with a LC ladder filter circuit to achieve the wideband input matching to the source impedance of antenna, whereas the cascode stage with a shunting peaking coil provides a flat and high power gain. The output stage with a diode-connected load matches the measured instrument. This proposed chip also merger T/R-Switch design on single RFIC solution on 3-5 GHz by electronic design automation (EDA) form computational intelligence techniques.

关键词： LNA low noise amplifier transformer LC ladder filter T/R switch

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Fast iterative alignment of pose graphs with poor initial estimates

Fast iterative alignment of pose graphs with poor initial es...

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IEEE international Conference on robotics and automation (ICRA)

作者： Olson, Edwin Leonard, John Teller, Seth MIT Comp Sci & Artificial Intelligence Lab 77 Massachusetts Ave Cambridge MA 02139 USA

ISBN: (纸本)0780395050

A robot exploring an environment can estimate its own motion and the relative positions of features in the environment. Simultaneous Localization and Mapping (SLAM) algorithms attempt to fuse these estimates to produce a map and a robot trajectory. The constraints are generally non-linear, thus SLAM can be viewed as a non-linear optimization problem. The optimization can be difficult, due to poor initial estimates arising from odometry data, and due to the size of the state space. We present a fast non-linear optimization algorithm that rapidly recovers the robot trajectory, even when given a poor initial estimate. Our approach uses a variant of Stochastic Gradient Descent on an alternative state-space representation that has good stability and computational properties. We compare our algorithm to several others, using both real and synthetic data sets.

关键词： robotics

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On Translation of Conformant Action Planning to Linear Programming 20

On Translation of Conformant Action Planning to Linear Progr...

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20th international Conference on Methods and Models in automation and robotics (MMAR)

作者： Galuszka, Adam Ilewicz, Witold Olczyk, Adrian Silesian Tech Univ Inst Automat Control Akad 16 PL-44100 Gliwice Poland

ISBN: (纸本)9781479987016

Planning in Artificial intelligence is a problem of finding a sequence of actions that transform given initial state of the problem to desired goal situation. In this work we consider computational difficulty of so called conformant planning. Conformant planning is a problem of searching for non-conditional plans that do not depend on sensory information, but still succeed no matter which of the possible initial states the world is actually in. Finding a plan of such problems is computationally difficult. To avoid this difficulty a transformation to Linear Programming Problem, illustrated by an example, is proposed.

关键词： conformant planning linear programming computational efficiency

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An extended ambient intelligence implementation for enhanced human-space interaction 33

An extended ambient intelligence implementation for enhanced...

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33rd international symposium on automation and robotics in Construction, ISARC 2016

作者： Liu Cheng, A. Bier, H.H. Faculty of Architecture and the Built Environment Delft University of Technology Delft Netherlands Facultad de Arquitectura y Urbanismo Universidad Tecnológica Equinoccial Quito Ecuador

This paper proposes an extended Ambient intelligence (AmI) solution that expresses intelligence with respect to both Information and Communications Technologies (ICTs) and spatial reconfiguration in the built-environment. With respect to the former, a solution based on a decentralized yet unified Wireless Sensor Network (WSN) is proposed. This is deployed across exterior, interior, and wearable domains, equipped with heterogeneous platforms across embedded and ambulant nodes, and open to a variety of proprietary and non-proprietary communication protocols. With respect to the latter, a corresponding functionally and physically reconfigurable built-environment pertinent to the Adaptive Architecture discourse is revisited. The ICTs component aims to demonstrate the advantages of a cohesive and interoperable heterogeneity distributed along local and web-based proprietary and non-proprietary services over a prevalent locally based homogeneity with respect to both development platforms and communication protocols in a WSN. The architectural component aims to demonstrate that a highly adaptive and transformable built-environment is better suited to complement and to sustain assistive as well as interventive services enabled by said WSN. As a unified solution, the proposal showcases that the merging of technological and architectural considerations in the design of an intelligent environment enables more intuitive solutions that actively adapt to, interact with, intervene on the user to promote comfort and wellbeing via computational as well as physical feedbackloops.

关键词： Ambient intelligence

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