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Action selection within the context of a robotic colony

Action selection within the context of a robotic colony

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sensor fusion and decentralized control in robotic systems ii Conference

作者： Huntsberger, T Mataric, M Pirjanian, P CALTECH Jet Prop Lab Sci & Technol Dev Sect Pasadena CA 91109 USA

ISBN: (纸本)0819434329

Preparation of planetary surface sites prior to a manned mission can be accomplished through the use of a robotic colony. The tasks of such a colony would include habitat deployment, setup of in-situ fuel and oxygen production plants, and beaconed road placement. The colony will have to possess a great deal of autonomy for this ambitious list. BISMARC (Biologically Inspired System for Map-based Autonomous Rover control) is a behavior based system for the control of multiple rovers on planetary surfaces. During the past few years the system has performed well in multiple cache retrieval simulations, and a certain degree of fault tolerance has been included in the design. In this paper we address the extensions to BISMARC that would be necessary for a robotic colony application. These extensions include a wider array of behaviors, better communication and mapping capabilities, and fault tolerance shared by the colony. The results of some simulations for habitat site preparation are reported.

关键词： robotic colonies planetary revers behavior-based control

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sensor-fused autonomous guidance of a mobile robot and applications to Mars Sample Return operations

Sensor-fused autonomous guidance of a mobile robot and appli...

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sensor fusion and decentralized control in robotic systems ii Conference

作者： Huntsberger, TL Baumgartner, ET Aghazarian, H Cheng, Y Schenker, PS Leger, PC Iagnemma, KD Dubowsky, S CALTECH Jet Prop Lab Sci & Technol Dev Sect Pasadena CA 91109 USA

ISBN: (纸本)0819434329

Generally, there are multiple sensor suites on existing rover platforms such as NASA's Sample Return Rover (SRR) and the Field Integrated Design and Operations (FIDO) rover at JPL. Traditionally, these sensor suites have been used in isolation for such tasks as planetary surface traversal. For example, although distant obstacle information is known from the narrow FOV navigation camera (NAVCAM) suite on SRR or FIDO, it is not explicitly used at this time for augmentation of the wide FOV hazard camera (HAZCAM) information for obstacle avoidance. This paper describes the development of advanced rover navigation techniques. These techniques include an algorithm for the generation of range maps using the fusion of information from the NAVCAMs and HAZCAMs, and an algorithm for registering range maps to an a priori model-based range map for relative rover position and orientation determination. Experimental results for each of these techniques are documented in this paper.

关键词： rover navigation state estimation map registration

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Consequences of module combination in a modular robotics system

Consequences of module combination in a modular robotics sys...

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sensor fusion and decentralized control in robotic systems ii Conference

作者： Fryer, JA McKee, GT Univ Reading Act Robot Grp Dept Comp Sci Reading RG6 6AY Berks England

ISBN: (纸本)0819434329

Modular robotics considers robots to be composed of distinct functional modules, which may be combined to perform tasks. Module combination allows functionality to be tailored to a task, but has a number of requirements. The notion of a 'module' must be clearly defined, and functionality specified in an unambiguous manner. The nature of the combination must be defined according to specific relationships between modules, and the consequences arising from combination - for modules and for the robot as a whole - need to be considered. The MARS model has been developed to allow reasoning about module combination, in terms of the ways in which modules may be combined, and the consequences that may arise from that combination. This paper defines a set of consequences which may arise during module combination.

关键词： modular robotics systems module combination

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Reinforcement learning of periodical gaits in locomotion robots

Reinforcement learning of periodical gaits in locomotion rob...

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sensor fusion and decentralized control in robotic systems ii Conference

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

ISBN: (纸本)0819434329

Emergence of stable gaits in locomotion robots is studied in this paper. A classifier system, implementing an instance-based reinforcement learning scheme, is used for sensory-motor control of an eight-legged mobile robot. Important feature of the classifier system is its ability to work with the continuous sensor space. The robot does not have a priori knowledge of the environment, its own internal model, and the goal coordinates. It is only assumed that the robot can acquire stable gaits by learning how to reach a light source. During the learning process the control system is self-organized by reinforcement signals. Reaching the light source defines a global reward. Forward motion gets a local reward, while stepping back and falling down get a local punishment. Feasibility of the proposed self-organized system is tested under simulation and experiment. The control actions are specified at the leg level. It is shown that, as learning progresses, the number of the action rules in the classifier systems is stabilized to a certain level, corresponding to the acquired gait patterns.

关键词： Robots Gait analysis sensors control systems Light sources Space sensors Optical sensors Neural networks Oscillators Signal processing

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Nonlinear attractor dynamics: A new approach to sensor fusion

Nonlinear attractor dynamics: A new approach to sensor fusio...

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sensor fusion and decentralized control in robotic systems ii Conference

作者： Steinhage, A Ruhr Univ Bochum Inst Neuroinformat D-44801 Bochum Germany

ISBN: (纸本)0819434329

Fusing information of multiple sensors is particularly difficult if the sensor systems which provide the information have very different characteristics such as different data formats, reliabilities, signal to noise ratios, sampling rates and so on. Furthermore, the information is often provided on different levels of abstraction such as the direct sensor output in contrast to expert knowledge or a priori information. We propose a new approach to sensor fusion which accounts for these problems. The basic idea is to represent the quantity to estimate as the state variable of a nonlinear dynamical system. The sensor signals act on this dynamics by specifying attractors with limited range of influence. The dynamics relaxes into a stable state which results from the superposition of the attractors. By means of the limited attractor ranges, the dynamics automatically averages nonlinearly over corresponding sensor signals while outliers stemming from temporarily de-calibrated or erroneous sensors are discarded. Self-calibration is achieved by representing also the sensor signals as dynamical states and specifying an attractor at the position of the fused estimate. By using the unified attractor representation, abstract information can be treated in the same way as direct sensor input. Furthermore a mathematically well defined and algebraically analyzable format for dynamic sensor information on various levels of abstraction is available. We verify our concept for the example of man-machine interaction: fusing visual and odometric sensor information for the autonomous position estimation with acoustic guidance information for the target acquisition of a mobile robot.

关键词： nonlinear dynamics attractors sensor fusion mobile robot

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Anticipation as a key for collaboration in a team of agents: A case study in robotic soccer

Anticipation as a key for collaboration in a team of agents:...

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sensor fusion and decentralized control in robotic systems ii Conference

作者： Veloso, M Stone, P Bowling, M Carnegie Mellon Univ Dept Comp Sci Pittsburgh PA 15213 USA

ISBN: (纸本)0819434329

We investigate teams of complete autonomous agents that can collaborate towards achieving precise objectives in an adversarial dynamic environment. We have pursued this work in the context of robotic soccer both in simulation and with real physical robots. We briefly present these two frameworks emphasizing their different technical challenges. Creating effective members of a team is a challenging research problem. We first address this issue by introducing a team architecture organization which allows for a rich task decomposition between team members. The main contribution of this paper is our introduction of an action-selection algorithm that allows for a teammate to anticipate the needs of other teammates. Anticipation is critical for maximizing the probability of successful collaboration in teams of agents. We show how our contribution applies to the two concrete robotic soccer frameworks and present controlled empirical results run in simulation. Anticipation was successfully used by both our CMUnited-98 simulator and CMUnited-98 small-robot teams in the RoboCup98 competition. The two teams are RoboCup-98 world champions each in its own league.

关键词： Robots robotics Computer simulations Algorithm development Indium nitride Motion estimation robotic systems sensors Ions Process control

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Visual servo system based on a biologically-inspired scanning sensor

Visual servo system based on a biologically-inspired scannin...

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sensor fusion and decentralized control in robotic systems ii Conference

作者： Viollet, S Franceschini, N CNRS Neurobiol Lab LNB3 F-13402 Marseille 20 France

ISBN: (纸本)0819434329

In the framework of our biologically inspired robotics approach, we describe a visually-guided demonstration model aircraft, the attitude of which is stabilized in yaw by means of a novel, non emissive optical sensor having a small visual field. This aircraft incorporates a miniature scanning sensor consisting of two photoreceptors with adjacent visual axes, driving a Local Motion Detector (LMD), which are made to perform a low-amplitude scanning at a varying angular speed. Under these conditions, the signal output from the motion detector varies gradually with the angular position of a contrasting object placed in its visual field, actually making the complete system a non-emissive optical "position sensor". Its output, remarkably, (i) varies quasi-linearly with the angular position of the contrasting object, and (ii) remains largely invariant with respect to the distance to the object and its degree of contrast. We built a miniature, twin-engine, twin-propeller aircraft (weight 100 grammes) equipped with this visual position sensor. After incorporating the sensor into a visuomotor feedback loop enhanced by an inertial sensor, we established that the "sighted aircraft" can fixate and track a dark edge placed in its visual field, thus opening the way for the development of visually-guided systems for controlling the attitude of micro-air vehicles, of the kind observed in insects such as hover-flies.

关键词： vision optical sensor position sensor non-emissive sensor scanning tracking visual fixation motion detection micro air vehicles attitude control

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Cooperative robotic sentry vehicles

Cooperative robotic sentry vehicles

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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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Evolution of neural controllers for salamander-like locomotion

Evolution of neural controllers for salamander-like locomoti...

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sensor fusion and decentralized control in robotic systems ii Conference

作者： Ijspeert, AJ Univ So Calif Dept Comp Sci Los Angeles CA 90879 USA

ISBN: (纸本)0819434329

This paper presents an experiment in which evolutionary algorithms are used for the development of neural controllers for salamander locomotion. The aim of the experiment is to investigate which kind of neural circuitry can produce the typical swimming and trotting gaits of the salamander, and to develop a synthetic approach to neurobiology by using genetic algorithms as design tool. A 2D bio-mechanical simulation of the salamander's body is developed whose muscle contraction is determined by the locomotion controller simulated as continuous-time neural networks. While the connectivity of the neural circuitry underlying locomotion in the salamander has not been decoded for the moment, the general organization of the designed neural circuits corresponds to that hypothesized by neurobiologists for the real animal. in particular, the locomotion controllers are based on a body central pattern generator (CPG) corresponding to a lamprey-like swimming controller as developed by Ekeberg,(1) and are extended with a limb CPG for controlling the salamander's body. A genetic algorithm is used to instantiate synaptic weights of the connections within the limb CPG and from the limb CPG to the body CPG given a high level description of the desired gaits. A set of biologically plausible controllers are thus developed which can produce a neural activity and locomotion gaits very similar to those observed in the real salamander. By simply varying the external excitation applied to the network, the speed, direction and type of gait can be varied.

关键词： Oscillators Gait analysis Device simulation Genetic algorithms Neurons Algorithm development Neuroscience Evolutionary algorithms Neural networks systems modeling

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Distributed control and computation in a parallel modular robotic system

Distributed control and computation in a parallel modular ro...

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proceedings of the 1999 sensor fusion and decentralized control in robotic systems ii

作者： Lee, Woo Ho Sanderson, Arthur C. Rensselaer Polytechnic Inst Troy United States

New generations of modular and reconfigurable robotic systems with many degrees of freedom can be transformed to achieve different functions, modes of manipulation, and means of mobility resulting in efficient multifunctional systems which adapt to complex environments. The design of modular distributed algorithms and architectures for control of these systems is particularly challenging since kinematic and dynamic performance must be maintained throughout a range of alternative physical reconfigurations. The `Tetrobot' is a prototype modular system using parallel, variable geometry truss-like mechanisms which can be reconfigured to create moving platforms, walking machines, manipulator arms, a pipe crawler and other devices. Modular algorithms for distributed control and dynamic redundancy resolution of these systems will be discussed, and the principles of distributed control for modular systems generalize beyond these specific mechanisms. The resulting Tetrobot system has a range of interesting applications including space robotics, construction, mining, medical, undersea, and flexible manufacturing.

关键词： Modular robots

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