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共 121 条记录，以下是11-20 订阅

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Navigation and control of blind-robots in sensorized environments

Navigation and control of blind-robots in sensorized environ...

引用

Conference on sensor fusion amd decentralized control in robotic systems

作者： Trivedi, MM Roche, S Capella, R Univ Calif San Diego Dept Elect & Comp Engn Comp Vis & Robot Res Lab La Jolla CA 92093 USA

ISBN: (纸本)0819429848

In this paper we discuss a new approach for developing useful robotic systems. The main idea is to simplify the robotic systems by eliminating the sensory and control hardware from the robotic platform. Such "sensor-less" systems have significant advantages over the more traditional "sensor-driven" systems. The paper demonstrates the efficacy of this new approach for autonomous navigation of roving robots that require no onboard sensing or control.

关键词： Robots sensors robotic systems Cameras control systems robotics Vehicle control Environmental sensing Neural networks Reliability

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Fully connected decentralized estimation

Fully connected decentralized estimation

引用

Conference on sensor fusion and decentralized control in Autonomous robotic systems

作者： Mutambara, AGO Florida State Univ. (United States)

ISBN: (纸本)0819426415

This paper addresses the multisensor estimation problem for both linear and nonlinear systems in a fully connected decentralized sensing architecture. The sensor data fusion problem is identified and the case for decentralized arhitectures, rather than hierarchical or centralized ones, is made. Fully connected decentralized estimation algorithms in both state and information spaces are then developed. The intent is to show that decentralized estimation is feasible and to demonstrate the advantages of information space over state space. The decentralization procedure is then repeated for the extended Kalman filter and extended information filter to produce decentralized filters for nonlinear systems. The four filters are compared and contrasted. In appraising the algorithms the problems associated with the requirement for a fully connected topology are identified.

关键词： estimation information filter decentralized multisensor data fusion

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Large-scale concurrent mapping and localization

Large-scale concurrent mapping and localization

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Conference on sensor fusion and decentralized control in robotic systems iiI

作者： Leonard, JJ MIT Dept Ocean Engn Cambridge MA 02139 USA

ISBN: (纸本)0819438618

The goal of concurrent mapping and localization (CML) is to enable a mobile robot to build a map of an unknown environment, while simultaneously using this map to navigate. This paper discusses some of the challenges that are encountered in the development of practical real-time implementations of CML for one or more autonomous mobile robots operating in large-scale environments.

关键词： Stochastic processes Mobile robots Associative arrays Data fusion sensors Environmental sensing robotics Error analysis robotic systems Navigation systems

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Cooperative robotic sentry vehicles

Cooperative robotic sentry vehicles

引用

sensor fusion and decentralized control in robotic systems ii Conference

作者： Feddema, J Lewis, C Klarer, P Eisler, R Caprihan, R Sandia Natl Labs Intelligent Syst & Robot Ctr Albuquerque NM 87185 USA

ISBN: (纸本)0819434329

As part of a project for the Defense Advanced Research Projects Agency, Sandia National Laboratories' Intelligent systems & robotics Center is developing and testing the feasibility of a cooperative team of robotic sentry vehicles to guard a perimeter and to perform a surround task. This paper describes on-going activities in the development of these robotic sentry vehicles. To date, we have developed a robotic perimeter detection system which consists of eight "Roving All Terrain Lunar Explorer Rovers" (RATLER(TM)), a laptop-based base-station, and several Miniature Intrusion Detection sensors (MIDS). A radio frequency receiver on each of the RATLER vehicles alerts the sentry vehicles of alarms from the hidden MIDS. When an alarm is received, each vehicle decides whether it should investigate the alarm based on the proximity of itself and the other vehicles to the alarm As one vehicle attends an alarm, the other vehicles adjust their position around the perimeter to better prepare for another alarm For the surround task both potential field and A* search path planners have been added to the base-station and vehicles. At the base-station, the operator specifies goal and exclusion regions on a GIS map. The path planner generates vehicle paths that are previewed by the operator. Once the operator has validated the path, the appropriate information is downloaded to the vehicles. For the potential field path planner, the polygons and line segments that represent the obstacles and goals are downloaded to the vehicles, instead of the simulated paths. On board the vehicles, the same potential field path planner generates the path except that it uses the true location of itself and the nearest neighboring vehicle. For the A* path planner, the actual path is downloaded to the vehicles because of limited on-board computational power.

关键词： mobile robots cooperative control distributed autonomous systems

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decentralized reinforcement learning control and emergence of motion patterns

Decentralized reinforcement learning control and emergence o...

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Conference on sensor fusion amd decentralized control in robotic systems

作者： Svinin, M Yamada, K Okhura, K Ueda, K Kobe Univ Dept Mech Engn Nada Ku Kobe Hyogo 6578501 Japan

ISBN: (纸本)0819429848

In this paper we propose a system for studying emergence of motion patterns in autonomous mobile robotic systems. The system implements an instance-based reinforcement learning control. Three spaces are of importance in formulation of the control scheme. They are the work space, the sensor space, and the action space. Important feature of our system is that all these spaces are assumed to be continuous. The core part of the system is a classifier system. Based on the sensory state space analysis, The control is decentralized and is specified at the lowest level of the control system. However, the local controllers are implicitly connected through the perceived environment information. Therefore, they constitute a dynamic environment with respect to each other. The proposed control scheme is tested under simulation for a mobile robot in a navigation task. It is shown that some patterns of global behavior - such as collision avoidance, wall-following, light-seeking - can emerge from the local controllers.

关键词： sensors Space sensors control systems Space robots Optical sensors Collision avoidance Light sources Mobile robots robotic systems Environmental sensing

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A decentralized control algorithm for modular manipulators using coupled nonlinear dynamics

A decentralized control algorithm for modular manipulators u...

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sensor fusion and decentralized control in robotic systems IV Conference

作者： Kimura, S Commun Res Labs Koganei Tokyo 1848795 Japan

ISBN: (纸本)0819442992

A basic decentralized control algorithm for modular manipulators was introduced to achieve robustness against partial failures, a reduced calculation load, and flexibility with regard to configuration and obstacle avoidance. The algorithm uses a coupled nonlinear spring as a model for a manipulator and calculates the shape of the manipulator to balance with the coupled spring. Because encoding using coupled nonlinear dynamics can explain various shapes very simply, we can reduce the complexity of obstacle avoidance and adaptation to partial faults.

关键词： modular manipulator space robot remote inspection hyper-redundant decentralized autonomous control nonlinear dynsmics coupled spring system

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Unmanned Airship development and Remote Sensing applications

Unmanned Airship development and Remote Sensing applications

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sensor fusion and decentralized control in robotic systems IV Conference

作者： Boschma, JH BOSCH Aerosp Inc Brownsboro AL 35741 USA

ISBN: (纸本)0819442992

This paper discusses the development of unmanned airships for military use during the past decade, and the current status of the Small Airship Surveillance System, Low Intensity Target Exploitation (SASS LITE) platform. Topics covered will also include various missions planned and conducted, and technological advances expected to be implemented on unmanned airships in the near future.

关键词： unmanned robotic Airships blimps dirigibles remote sensing

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Complementary data fusion in guidance and control of robot compliant motion

Complementary data fusion in guidance and control of robot c...

引用

Conference on sensor fusion amd decentralized control in robotic systems

作者： Xiao, D Ghosh, BK Xi, N Tarn, TJ FANUC Robot N Amer Inc Rochester MI 48309 USA

ISBN: (纸本)0819429848

This paper is devoted to the control problem of a robot manipulator for a class of constrained motions in an unknown environment. To accomplish a task int he presence of uncertainties, we propose a new guidance and control strategy based on multisensor fusion. Three different sensors robot joint encoders, a wrist force-torque sensor and a vision system are utilized for our task. First of all, a sensor-based hybrid position/force control scheme is proposed for an unknown contact surface. Secondly, a new multisensor fusion scheme is utilized to handle an uncalibrated workcell, wherein the surface on which there is a path to be followed by a robot is assumed to be unknown but visible by the vision system and the precise position and orientation of camera(s) with respect to the base frame of the robot is also assumed to be unknown. Our work is related with areas such as visual servoing, multisensor fusion and robot control for constrained motion. The main features of the proposed approach are: (i) multi-sensor fusion is used both for two disparate sensors (i.e. force-torque and visual sensors) and for complementary observed data rather than redundant ones as in traditional way;(ii) visual servoing is realized on the tangent space of the unknown surface;(iii) calibration of the camera with respect to the robot is not needed.

关键词： real-time guidance multisensor fusion hybrid control visual servoing uncalibrated environment

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Performance of a distributed robotic system using shared communications channels

Performance of a distributed robotic system using shared com...

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sensor fusion and decentralized control in robotic systems IV Conference

作者： Rybski, P Stoeter, S Gini, M Hougen, D Papanikolopoulos, N Univ Minnesota Dept Comp Sci & Engn Minneapolis MN 55455 USA

ISBN: (纸本)0819442992

We have designed and built a set of miniature robots and developed a distributed software system to control them. We present experimental results on a surveillance task in which multiple robots patrol an area and watch for motion. We discuss how the limited communication bandwidth affects robot performance in accomplishing the task and analyze how performance depends on the number of robots that share the bandwidth.

关键词： Robots Video Motion detection Telecommunications Video surveillance Cameras robotic systems Video processing Surveillance sensors

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Model Manager A visually programmed, model themed data-flow programming language for robot control

Model Manager A visually programmed, model themed data-flow ...

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sensor fusion and decentralized control in robotic systems IV Conference

作者： Schonlau, WJ MMS Rancho Palos Verdes CA 90275 USA

ISBN: (纸本)0819442992

An experimental modeling language for general purpose simulation, robotic control and factory automation is presented. The advantages of a visual programming interface and data flow architecture are examined. Primarily, the model based organization is proposed as a means of integrating various intelligent systems disciplines to enhance problem solving abilities and improve system utility.

关键词： model data-flow visual programming language intelligent robot simulation control automation

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