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

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Artificial Urban Planning: Application of MAS in Urban Planning Education

Artificial Urban Planning: Application of MAS in Urban Plann...

引用

1st international symposium on computational intelligence and Design

作者： Kou Xiaodong Yang Lin Cai Lin Northwest Polytech Univ Automat Coll Xian 710072 Peoples R China Air Force Engn Univ Engn Inst Xian 710038 Peoples R China

ISBN: (纸本)9780769533117

Urban problems caused by fast urbanization become more and more complex, bringing new challenges to urban planning and its education. Therefor, proposition of artificial cities is put forward in this paper, based on which artificial urban planning research can be carried out. By adopting multi-agent system (MAS) method and according to features of Swarm simulation, the spatial evolution system model of an artificial city is built to study general process of urbanization, focusing on physical space, family agents, enterprise agents and interactions between (among) them in the city. Simulation of the model not only reproduces the process of a monocentric city's formation, but discovers that in a double-centered city's construction, administrative interference should be combined with the city's self-organizing evolution at a proper time. Simulation experiments and relative analysis show that the model is reasonable, which indicates artificial urban planning research is feasible and will offer effective support to urban planning education.

关键词： Urban planning Cities and towns Design automation Educational institutions Design engineering computational modeling Multiagent systems computational intelligence Humans Concurrent computing

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Multi-output Infinite Horizon Gaussian Processes

Multi-output Infinite Horizon Gaussian Processes

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IEEE international Conference on robotics and automation (ICRA)

作者： Lim, Jaehyun Park, Jehyun Nah, Sungjae Choi, Jongeun Yonsei Univ Sch Mech Engn Seoul South Korea Yonsei Univ Dept Artificial Intelligence Seoul South Korea

ISBN: (纸本)9781728190778

Learning the uncertain dynamical environments for online learning and prediction from noisy sensory measurement streams is essential for various tasks in robotics. Recently, Gaussian process (GP) online learning such as an infinitehorizon Gaussian process (IHGP) has shown effectiveness to cope with non-stationary dynamical random processes in learning hyperparameters online by reducing the computational cost. However, the IHGP was originally proposed to deal with only a single-output. Therefore, to tackle complex real-world problems, we propose a multi-output infinite-horizon Gaussian process (MOIHGP) that generalizes the single-output IHGP to deal with multiple outputs for better prediction. Our approach allows us to consider correlations between multiple outputs for better prediction, even with occlusions in a Bayesian way. Finally, we successfully demonstrate the effectiveness of our approach by benchmark and experimental results. For simulated benchmark experiments with high noise levels, our approach reduced 16.6% of the averaged RMSE value achieved by the single-output IHGP.

关键词： Correlation Measurement uncertainty Gaussian processes Benchmark testing Robot sensing systems Bayes methods Random processes

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A Multi-Objective Optimization-based Path Planning Method for Parallel Parking of Autonomous Vehicle via Nonlinear Programming 15

A Multi-Objective Optimization-based Path Planning Method fo...

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15th international Conference on Control, automation, robotics and Vision (ICARCV)

作者： Jing, Wei Feng, Dudong Zhang, Pinchao Zhang, Shijun Lin, Sihan Tang, Bowei Inst High Performance Comp Dept Comp Sci 1 Fusionopolis Way Singapore 138632 Singapore ASTAR Artificial Intelligence Initiat A AI 1 Fusionopolis Way Singapore 138632 Singapore Georgia Inst Technol Dept Mech Engn North Ave NW Atlanta GA 30332 USA Carnegie Mellon Univ Dept Civil & Environm Engn 5000 Forbes Ave Pittsburgh PA 15213 USA Carnegie Mellon Univ Dept Mech Engn 5000 Forbes Ave Pittsburgh PA 15213 USA

ISBN: (纸本)9781538695821

In recent years, Autonomous Vehicle has become highly desirable to improve efficiency of transportation, to reduce number of accidents and to reduce travelling cost. Among the common tasks in the autonomous driving system, parallel parking is one of the most important tasks, which is performed very frequently as a daily routine. Thus, planning an efficient path for parallel parking significantly helps to reduce the cost and improve the efficiency, which is of great interests at both academia and industry. In this paper, we propose a multi-objective optimization formulation and develop a Nonlinear Programming based method for the path planning problem of the parallel parking task. The proposed method is demonstrated to be able to solve the path planning problem for parallel parking efficiently and robustly with good optimization results as well as convergence property in the computational studies. We also conduct several analysis of the optimization algorithm to explain the impacts of the environmental parameters and the objectives in the multi-objective function.

关键词： Path Planning Autonomous Vehicle Multi-Objective Optimization Nonlinear Programming

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An underactuated hand with abduction and adduction at metacarpophalangeal joints to improve the performance of grasp 7

An underactuated hand with abduction and adduction at metaca...

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7th international symposium on computational intelligence and Industrial Applications, ISCIIA 2016

作者： Ke, Ang Huang, Jian He, Jiping Neural Interfaces and Rehabilitation Technology Research Center Huazhong University of Science and Technology WuhanHubei China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing China

ISBN: (纸本)9784990534349

The abduction/adduction movement of metacarpophalangeal (MCP) joint is always neglected during the design of underactuated prosthetic hands. However, for grasping types such as power sphere grasp and power disk grasp, the abduction in MCP joint is very useful for improving the grasp performance. This paper presents the ongoing work about the design of a tendon-driven underactuated prosthetic hand that equips the fingers with abduction/adduction movement at MCP joints. The thumb, the index finger, the ring finger and the little finger all have two kinds of motion: flexion/extension and abduction/adduction, while the middle finger just have flexion/extension. Experiments show that this kind of design provides the hand with a good dexterity, the added MCP abduction can ensure natural enveloping grasp gestures for both cylinder-like objects and sphere-like objects. © 2016, Fuji Technology Press. All rights reserved.

关键词： robotics

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Toward Robust and Efficient Online Adaptation for Deep Stereo Depth Estimation

Toward Robust and Efficient Online Adaptation for Deep Stere...

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IEEE international Conference on robotics and automation (ICRA)

作者： Knowles, Milo Peretroukhin, Valentin Greene, W. Nicholas Roy, Nicholas MIT Comp Sci & Artificial Intelligence Lab CSAIL 77 Massachusetts Ave Cambridge MA 02139 USA

ISBN: (纸本)9781728190778

Although deep neural networks have achieved state-of-the-art performance for stereo depth estimation, they can suffer from a significant drop in accuracy when tested on images from novel domains. Recent work has shown that self-supervised online adaptation is a promising approach for closing this performance gap. In this work, we address three unsolved challenges for online adaptation. First, we propose a method for detecting novel environments, allowing us to trigger adaptation and notify downstream systems that depth predictions are unreliable. We find that the feature similarity scores from our deep stereo network can be leveraged for out-of-distribution (OOD) detection, providing the necessary starting criterion for adaptation. Next, we use online validation to terminate adaptation when it stops improving performance, allowing us to free up computational resources. Finally, we demonstrate that existing methods for continuous adaptation cause catastrophic forgetting of the training domain. By augmenting adaptation with experience replay, we retain high accuracy in the training domain while rapidly improving performance in novel environments. In sum, these three contributions form the basis of a more robust and efficient deep stereo system that can recognize and adapt to new environments without forgetting.

关键词： Training Deep learning automation Conferences Estimation Feature extraction

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Parameter estimation and optimal control of swarm-robotic systems: A case study in distributed task allocation

Parameter estimation and optimal control of swarm-robotic sy...

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IEEE international Conference on robotics and automation

作者： Correll, Nikolaus MIT Comp Sci & Artificial Intelligence Lab Cambridge MA 02139 USA

ISBN: (纸本)9781424416462

This paper presents a methodology for finding optimal control parameters as well as optimal system parameters for robot swarm controllers using probabilistic, population dynamic models. With distributed task allocation as a case study, we show how optimal control parameters leading to a desired steady-state task distribution for two fully-distributed algorithms can be found even if the parameters of the system are unknown. First, a reactive algorithm in which robots change states independently from each other and which leads to a linear macroscopic model describing the dynamics of the system is considered. Second, a threshold-based algorithm where robots change states based on the number of other robots in this state and which leads to a non-linear model is investigated. Whereas analytical results can be obtained for the linear system, the optimization of the non-linear controller is performed numerically. Finally, we show using stochastic simulations that whereas the presented methodology and models work best if the swarm size is large, useful results can already be obtained for team-sizes below a hundred robots. The methodology presented can be applied to scenarios involving the control of large numbers of entities with limited computational and communication abilities as well as a tight energy budget, such as swarms of robots from the centimeter to nanometer range or sensor networks.

关键词： Stochastic systems

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Automatic Posture Alignment Method of Spacecraft in Docking Process of Solar Wing 10

Automatic Posture Alignment Method of Spacecraft in Docking ...

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10th international symposium on computational intelligence and Design (ISCID)

作者： Guo, Tao Liu, Guangtong Fan, Yougao Zhao, Jingjing Chen, Dameng Beijing Inst Spacecraft Environm Engn Beijing Peoples R China Beijing Engn Res Ctr Intelligent Assembly Technol Beijing Peoples R China

ISBN: (纸本)9781538636756

Solar wing provides energy for the whole spacecraft and the docking quality of solar wing directly influences whether solar wing can be smoothly started and put into normal operation after launching of spacecraft. First of all, traditional posture alignment method of spacecraft in docking process of solar wing is analyzed so as to point out existing disadvantages;secondly, detailed description is provided for system composition, principles for posture alignment and technological process of automatic posture alignment method of spacecraft so as to clarify coordinate transformation relationship in process of posture alignment;thirdly, error in posture alignment method is analyzed to formulate corresponding control methods;in the end, verification is carried out for automatic posture alignment method for docking engineering test of solar wing and the results show that: the method for automatic posture alignment of spacecraft is feasible and the posture of spacecraft can meet docking requirements of solar wing after 1 to 2 times of adjustment. The method can provide reference for docking process of similar large components.

关键词： spacecraft solar wing automation posture alignment method

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Bidirectional Attention Network for Monocular Depth Estimation

Bidirectional Attention Network for Monocular Depth Estimati...

引用

IEEE international Conference on robotics and automation (ICRA)

作者： Aich, Shubhra Vianney, Jean Marie Uwabeza Islam, Md Amirul Kaur, Mannat Liu, Bingbing Huawei Technol Noahs Ark Lab Markham ON L3R 5Y1 Canada

ISBN: (纸本)9781728190778

In this paper, we propose a Bidirectional Attention Network (BANet), an end-to-end framework for monocular depth estimation (MDE) that addresses the limitation of effectively integrating local and global information in convolutional neural networks. The structure of this mechanism derives from a strong conceptual foundation of neural machine translation, and presents a light-weight mechanism for adaptive control of computation similar to the dynamic nature of recurrent neural networks. We introduce bidirectional attention modules that utilize the feed-forward feature maps and incorporate the global context to filter out ambiguity. Extensive experiments reveal the high degree of capability of this bidirectional attention model over feed-forward baselines and other state-of-the-art methods for monocular depth estimation on two challenging datasets - KITTI and DIODE. We show that our proposed approach either outperforms or performs at least on a par with the state-of-the-art monocular depth estimation methods with less memory and computational complexity.

关键词： Recurrent neural networks Conferences computational modeling Memory management Estimation Machine translation Convolutional neural networks

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'LUCAS': The library assistant robot, implementation and localisation

'LUCAS': The library assistant robot, implementation and loc...

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international Conference on computational intelligence for Modelling, Control and automation/international Conference on Intelligent Agents Web Technologies and international Commerce

作者： Behan, Julie O'Keeffe, Derek T. Univ Limerick Dept Elect & Comp Engn Biomed Elect Lab Limerick Ireland

ISBN: (纸本)0769525040

In modern ageing society, robots are been designed to play an increasing role in the lives of elderly people This paper describes a mobile robotic assistant, named 'LUCAS', Limerick University Computerised Assistive System, that is currently being developed to assist elderly individuals with mild cognitive or physical impairments within a library environment. The aim of the project is to provide an assistive socially interactive robotic aid. The main focus of this paper is on the localisation system of 'LUCAS'. A continuous localisation process is used which relies on monocular vision and ultrasonic range readings. The process employ's methods of straight-line-extraction, vanishing point estimation and ultrasonic pattern detection. The correspondence space is reduced by splitting the navigable space into localisation variant regions. The pose is calculated for each localisation hypothesis within the particular region and is used to correct the motion of the robot before it enters the next localisation region.

关键词： robotics

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K-Robots Clustering of Moving Sensors using Coresets

K-Robots Clustering of Moving Sensors using Coresets

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IEEE international Conference on robotics and automation (ICRA)

作者： Feldman, Dan Gil, Stephanie Knepper, Ross A. Julian, Brian Rus, Daniela MIT Comp Sci & Artificial Intelligence Lab Cambridge MA 02139 USA

ISBN: (纸本)9781467356411;9781467356435

We present an approach to position k servers (e. g. mobile robots) to provide a service to n independently moving clients;for example, in mobile ad-hoc networking applications where inter-agent distances need to be minimized, connectivity constraints exist between servers, and no a priori knowledge of the clients' motion can be assumed. Our primary contribution is an algorithm to compute and maintain a small representative set, called a kinematic coreset, of the n moving clients. We prove that, in any given moment, the maximum distance between the clients and any set of k servers is approximated by the coreset up to a factor of (1 +/- epsilon), where epsilon > 0 is an arbitrarily small constant. We prove that both the size of our coreset and its update time is polynomial in k log(n)/epsilon. Although our optimization problem is NP-hard (i.e., takes time exponential in the number of servers to solve), solving it on the small coreset instead of the original clients results in a tractable controller. The approach is validated in a small scale hardware experiment using robot servers and human clients, and in a large scale numerical simulation using thousands of clients.

关键词： computational complexity cooperative systems mobile robots multi-robot systems optimisation

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