We examine the problem of finding a single meeting location for a group of heterogeneous autonomous mobile robots, such that the total system cost of traveling to the rendezvous is minimized. We propose two algorithms...
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ISBN:
(纸本)9780769527864
We examine the problem of finding a single meeting location for a group of heterogeneous autonomous mobile robots, such that the total system cost of traveling to the rendezvous is minimized. We propose two algorithms that solve this problem. The first method computes an approximate globally optimal meeting point using numerical simplex minimization. The second method is a computationally cheap heuristic that computes a local heading for each robot: by iterating this method, all robots arrive at the globally optimal location. We compare the performance of both methods to a naive algorithm (center of mass). Finally, we show how to extend the methods with inter-robot communication to adapt to new environmental information.
The underwater domain provides a wide range of potential applications for autonomous systems. Sessile (im-mobile) sensor platforms can provide a sensing network to monitor a range of different underwater events. Monit...
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In this paper, we propose a new approach for point cloud registration based on a volumetric representation called the vector field. A surface classification method is first integrated in the vector field represention ...
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The proceedings contain 50 papers. The topics discussed include: place classification using visual object categorization and global information;utilizing geographic information system data for unmanned aerial vehicle ...
ISBN:
(纸本)9780769543628
The proceedings contain 50 papers. The topics discussed include: place classification using visual object categorization and global information;utilizing geographic information system data for unmanned aerial vehicle position estimation;range-based navigation system for a mobile robot;conformative filter: a probabilistic framework for localization in reduced space;using line and ellipse features for rectification of broadcast hockey video;improved pressure sensitive paint measurement using natural feature tracking and piecewise linear resection;robotic tracking and marking of surface shape defects on moving automotive panels;extended histogram of gradients with asymmetric principal component and discriminant analyses for human detection;combining multi-robot exploration and rendezvous;visual odometry using 3-dimensional video input;and precise high speed multi-target multi-sensor local positioning system.
Degradation of images of outdoor scenes caused by, varying conditions of visibility, can be exploited in order to get information on the scene. We propose two new methods for detecting occlusion edges between textured...
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ISBN:
(纸本)0769523196;0769523196
Degradation of images of outdoor scenes caused by, varying conditions of visibility, can be exploited in order to get information on the scene. We propose two new methods for detecting occlusion edges between textured areas of a scene. These methods are based on the use of partial derivatives of two images acquired under different conditions of visibility. They were validated on images of both synthetic and real scenes.
Small and Medium-size Enterprises require increasingly versatile robots that are capable of learning new skills during their operating life span, in addition to the ability to integrate themselves into human teams as ...
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ISBN:
(纸本)9781728158716
Small and Medium-size Enterprises require increasingly versatile robots that are capable of learning new skills during their operating life span, in addition to the ability to integrate themselves into human teams as a new and effective partner. Teaching information and skills to a robot can quickly become very complex, especially when considering that the human partner of the robot is inexperienced in the field and does not have access to intuitive interaction channels to train such robots. In this work, a system is proposed that can virtually define an assembly task, based on CAD modelling that describe constraints between assembly parts. These constraints are then extracted in an ontology which is automatically translated into Simple Temporal Networks (stNs) leading to joint action plans. Results show the automatic translation between virtual teaching and knowledge acquired by the robot on a peg-in-hole problem before illustrating the connection to planning for human-robot collaborative tasks. As a proof of concept, these developments demonstrate that a CAD guided assembly planner can circumvent the need for skilled robot programming.
In this work we present an efficient approach for physiological features extraction from infrared face images. The physiological features represent the network of blood vessels under the face skin. These networks are ...
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ISBN:
(纸本)9780769531533
In this work we present an efficient approach for physiological features extraction from infrared face images. The physiological features represent the network of blood vessels under the face skin. These networks are unique to each individual. The proposed technique permits the construction of Faceprints (similar to fingerprints) from thermal infrared images of faces. The extracted faceprint is unique and can be used in infrared face recognition.
In this paper, it is recalled that computervision, used as an exteroceptive redundant metrology mean, simplifies the control of a Gough-stewart parallel robot. Indeed, contrary to the usual methodology where the robo...
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ISBN:
(纸本)3901249850
In this paper, it is recalled that computervision, used as an exteroceptive redundant metrology mean, simplifies the control of a Gough-stewart parallel robot. Indeed, contrary to the usual methodology where the robot is modeled independently from the control law which will be implemented, we take, since the early modeling stage, into account that vision will be used for control. Hence, kinematic modeling and projective geometry are fused into a control-devoted vision-based kinematic model through the observation of its legs. Thus, this novel vision-based kinematic modeling is extended to two other parallel manipulator families, namely Orthoglide and I4L. Inspired by the geometry of lines, this kind of model unifies and simplifies both identification and control. Indeed, it has a reduced parameter set and yields a linear solution to calibration. Using the same models, visual servoing schemes are presented, where the directions of the non-rigidly linked legs are servoed, rather than the end-e® ector pose.
This paper researches into multi-robot parallel assembly optimization problem. The concepts of product parts system assembly proportion and assembly complexity are introduced with the parallel robot involved in produc...
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The shape completion problem refers to the interruption, e.g. by occlusion, of the geometric continuation of boundaries of objects. It is important to use a single visually pleasing curve segment to smoothly fill a ga...
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ISBN:
(纸本)9780769531533
The shape completion problem refers to the interruption, e.g. by occlusion, of the geometric continuation of boundaries of objects. It is important to use a single visually pleasing curve segment to smoothly fill a gap, even though the gap may not be filled in a curvature continuous manner Recently an algorithm for doing so using an Euler spiral segment was presented, the algorithm depends on initially fitting a biarc. An improved algorithm, which does not depend on first fitting a biarc, is now presented.
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