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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Kaupp, Tobias Douillard, Bertrand Upcroft, Ben Makarenko, Alexei Univ Sydney ARC Ctr Excellence Autonomous Syst CAS Sydney NSW 2006 Australia

ISBN: (纸本)9781424402588

This paper considers the problem of building environment models by fusing information gathered by robotic platforms with human perceptual information. Rich environment models are required in real applications for both autonomous operation of robots and to support human decision-making. Hierarchical models are well suited to represent complex environments because they: offer multiple abstractions of the available information to support analysis and decision-making, and permit the incorporation of higher-level human observations. The contributions of this paper are two-fold: (1) development of a probabilistic three-level environment model for distributed information gathering, and (2) experimental demonstration of fully decentralized, cooperative human-robot information gathering using an outdoor sensor network comprised of an unmanned air vehicle, a ground vehicle, and two human operators. Several information exchange patterns are presented which qualitatively demonstrate human-robot information fusion.

关键词： information fusion human-robot teams hierarchical model sensor network

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Active-Vision for the autonomous Surveillance of Dynamic, Multi-Object Environments

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JOURNAL OF INTELLIGENT & robotic systems 2009年第4期54卷 567-593页

作者： Bakhtari, Ardevan Mackay, Matthew Benhabib, Beno Univ Toronto Dept Mech & Ind Engn Comp Integrated Mfg Lab Toronto ON M5S 3G8 Canada

This paper presents a novel method for active-vision-based sensing-system reconfiguration for the autonomous surveillance of an object-of-interest as it travels through a multi-object dynamic workspace with an a priori unknown trajectory. Several approaches have been previously proposed to address the problem of sensor selection and control. However, these have primarily relied on off-line planning methods and rarely utilized on-line planning to compensate for unexpected variations in a target's trajectory. The method proposed in this paper, on the other hand, uses a multi-agent system for on-line sensing-system reconfiguration, eliminating the need for any a priori knowledge of the target's trajectory. Thus, it is robust to unexpected variations in the environment. Simulations and experiments have shown that the use of dynamic sensors with the proposed on-line reconfiguration algorithm can tangibly improve the performance of an active-surveillance system.

关键词： Active vision Surveillance sensor fusion Multi-agent system

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Distributed Algorithms for Environment Partitioning in Mobile robotic Networks

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IEEE TRANSACTIONS ON AUTOMATIC control 2011年第8期56卷 1834-1848页

作者： Pavone, Marco Arsie, Alessandro Frazzoli, Emilio Bullo, Francesco CALTECH Jet Prop Lab Pasadena CA 91109 USA Univ Toledo Dept Math Toledo OH 43606 USA MIT Lab Informat & Decis Syst Dept Aeronaut & Astronaut Cambridge MA 02139 USA Univ Calif Santa Barbara Ctr Control Engn & Computat Santa Barbara CA 93106 USA

A widely applied strategy for workload sharing is to equalize the workload assigned to each resource. In mobile multiagent systems, this principle directly leads to equitable partitioning policies whereby: 1) the environment is equitably divided into subregions of equal measure;2) one agent is assigned to each subregion;and 3) each agent is responsible for service requests originating within its own subregion. The current lack of distributed algorithms for the computation of equitable partitions limits the applicability of equitable partitioning policies to limited-size multiagent systems operating in known, static environments. In this paper, first we design provably correct and spatially distributed algorithms that allow a team of agents to compute a convex and equitable partition of a convex environment. Second, we discuss how these algorithms can be extended so that a team of agents can compute, in a spatially distributed fashion, convex and equitable partitions with additional features, e.g., equitable and median Voronoi diagrams. Finally, we discuss two application domains for our algorithms, namely dynamic vehicle routing for mobile robotic networks and wireless ad hoc networks. Through these examples, we show how one can couple the algorithms presented in this paper with equitable partitioning policies to make these amenable to distributed implementation. More in general, we illustrate a systematic approach to devise spatially distributed control policies for a large variety of multiagent coordination problems. Our approach is related to the classic Lloyd algorithm and exploits the unique features of power diagrams.

关键词： autonomous systems cooperative control decentralized control multirobot systems sensor networks

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An expectation-based framework of object schemas and port-based agents for disparate feedback assimilation

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autonomous ROBOTS 1999年第2期7卷 159-173页

作者： Nelson, BJ Khosla, PK Univ Minnesota Dept Mech Engn Minneapolis MN 55455 USA Carnegie Mellon Univ Dept Elect & Comp Engn Pittsburgh PA 15213 USA

robotic manipulation systems that operate in unstructured environments must be responsive to feedback from sensors that are disparate in both location and modality. This paper describes a distributed framework for assimilating the disparate feedback provided by force and vision sensors, including active vision sensors, for robotic manipulation systems. The main components of the expectation-based framework include object schemas and port-based agents. Object schemas represent the manipulation task internally in terms of geometric models with attached sensor mappings. Object schemas are dynamically updated by sensor feedback, and thus provide an ability to perform three dimensional spatial reasoning during task execution. Because object schemas possess knowledge of sensor mappings, they are able to both select appropriate sensors and guide active sensors based on task characteristics. Port-based agents are the executors of reference inputs provided by object schemas and are defined in terms of encapsulated control strategies. Experimental results demonstrate the capabilities of the framework in two ways: the performance of manipulation tasks with active camera-lens systems, and the assimilation of force and vision sensory feedback.

关键词： force control visual serving sensor fusion robotic manipulation active sensors

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Adaptive velocity control for UAV boat landing: A neural network and particle swarm optimization approach

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JOURNAL OF INTELLIGENT & robotic systems 2024年第1期111卷 1-18页

作者： Wu, Li-Fan Wang, Zihan Rastgaar, Mo Mahmoudian, Nina Purdue Univ W Lafayette IN 47906 USA

Achieving precise landing of Unmanned Aerial Vehicles (UAVs) onto moving platforms, such as autonomous Surface Vehicles (ASVs), is challenging, particularly in GPS-denied environments with dynamic disturbances. Conventional methods often rely on high-level waypoint navigation, extensive manual tuning, and expensive sensors. In this work, we propose an adaptive Proportional-Integral-Derivative (PID) controller optimization using a Neural Network-Particle Swarm Optimization (NN-PSO) algorithm. The algorithm dynamically tunes the PID controller, significantly reducing manual tuning effort, while relying solely on a low-cost camera and altitude sensor. The NN-PSO algorithm allows the UAV to land with an average error of 5 cm on static platforms and 10 cm on moving boats, based on multiple test flights. Our method also increases the maximum landing speed to 80.9% of the UAV's top flight speed, a considerable improvement over existing systems. Our approach not only optimizes landing precision but also introduces techniques for ensuring soft landings, reducing oscillations, and preventing target misses. These enhancements make the method robust across varying flight altitudes and ASV speeds. Furthermore, this approach is applicable to a variety of GPS-denied scenarios, including rescue missions, package deliveries, and workspace inspections, without requiring costly equipment or extensive parameter tuning. Field experiments confirm the precision and stability of the proposed system, validating its performance in real-world conditions. [Video]

关键词： Adaptive control autonomous systems Visual servo control sensor fusion Visual servoing Unmanned aerial vehicles

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A decentralized Cooperative Approach to Gentle Human Transportation with Mobile Robots Based on Tactile Feedback 1

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16th International Symposium on Distributed autonomous robotic systems (DARS)

作者： Zhang, Yi Sueoka, Yuichiro Ishihara, Hisashi Tsunoda, Yusuke Osuka, Koichi Osaka Univ Suita Osaka 5650871 Japan

ISBN: (数字)9783031514975

ISBN: (纸本)9783031537035;9783031514975;9783031514968

Cooperative transportation of objects by a group of small mobile robots is expected to work in disaster sites. In this study, we aim to transport fragile objects including humans which may move during the transport, with as little burden as possible. We propose the adoption of a flexible tri-axis tactile sensor with thickness at the top of the robot on which the object is mounted for safe support and state monitoring. We improved the leader-follower based control by adding force feedback into the leader's control law to prevent excessive force on the object, which is the disadvantage of the typical leader-follower method. We verified the robots can transport a rigid body gently with the proposed control law by converging their speeds to the same value in a dynamical simulation and actual experiments. Additionally, we found that multijoint objects also can be transported with the proposed method, whereas the stable support of the object by each robot is reserved for future works.

关键词： cooperative transportation flexible tactile sensor human transportation

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Real time distributed map building in large environments

Real time distributed map building in large environments

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Conference on sensor fusion and decentralized control in robotic systems III

作者： Julier, SJ Uhlmann, JK Naval Research Lab. (United States) Univ. of Missouri/Columbia (United States)

ISBN: (纸本)0819438618

Many of the future missions for mobile robots demand multi-robot systems which are capable of operating in large environments for long periods of time. One of the most critical capabilities is the ability to localize - a mobile robot must be able to estimate its own position and to consistently transmit this information to other robots and control sites. Although state-of-the-art GPS is capable of yielding unmatched performance over large areas, it is not applicable in many environments (such as within city streets, under water, indoors, beneath foliage or extra-terrestrial robotic missions) where mobile robots are likely to become commonplace. A widely researched alternative is Simultaneous Localization and Map Building (SLAM): the vehicle constructs a map and, concurrently, estimates its own position. However, most approaches are non-scalable (the storage and computational costs vary quadratically and cubically with the number of beacons in the map) and can only be used with multiple robotic vehicles with a great degree of difficulty. In this paper, we describe the development of a scalable, multiple-vehicle SLAM system. This system, based on the Covariance Intersection algorithm, is scalable - its storage and computational costs are linearly proportional to the number of beacons in the map. Furthermore, it is scalable to multiple robots - each has complete freedom to exchange partial or full map information with any other robot at any other time step. We demonstrate the real-time performance of this system in a scenario of 15,000 beacons.

关键词： Robots Mobile robots sensors Algorithm development Process modeling Data fusion Filtering (signal processing) robotics Computing systems robotic systems

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Virtual reality for intelligent and interactive operating-, training- and visualization systems

Virtual reality for intelligent and interactive operating-, ...

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Conference on sensor fusion and decentralized control in robotic systems III

作者： Freund, E Rossmann, J Schluse, M Univ Dortmund Inst Robot Res D-44227 Dortmund Germany

ISBN: (纸本)0819438618

Virtual Reality Methods allow a new and intuitive way of communication between man and machine. The basic idea of Virtual Reality (VR) is the generation of artificial computer simulated worlds, which the user not only can look at but also can interact with actively using data glove and data helmet. The main emphasis for the use of such techniques at the IRF is the development of a new generation of operator interfaces for the control of robots and other automation components and for intelligent training systems for complex tasks. The basic idea of the methods developed at the IRF for the realization of "Projective Virtual Reality" is to let the user work in the virtual world as he would act in reality. The user actions are recognized by the Virtual Reality System and by means of new and intelligent control software "projected" onto the automation components like robots which afterwards perform the necessary actions in reality to execute the users task. In this operation mode the user no longer has to be a robot expert to generate tasks for robots or to program them, because intelligent control software recognizes the users intention and generated automatically the commands for nearly every automation component. Now, Virtual Reality Methods are ideally suited for universal man-machine-interfaces for the control and supervision of a big class of automation components, interactive training and visualization systems. The Virtual Reality System of the IRF - COSIMIR/VR - forms the basis for different projects starting with the control of space automation systems in the projects CIROS, VITAL and GETEX, the realization of a comprehensive development tool for the International Space Station and last bus not least with the realistic simulation fire extinguishing, forest machines and excavators which will be presented in the final paper in addition to the key ideas of this Virtual Reality System.

关键词： projective virtual reality man-machine-interface training visualization

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Bionic robot arm with compliant actuators

Bionic robot arm with compliant actuators

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sensor fusion and decentralized control in robotic systems III

作者： Moehl, Bernhard Universitaet des Saarlandes Saarbruecken Germany

Traditional robotics uses non-compliant materials for all components involved in the production of movement. Elasticity is avoided as far as possible, because it leads to hazardous oszillations and makes control of precise movements very difficult. Due to this deliberate stiffness, robots are typically heavy and clumsy structures in comparison to their living counterparts (i.e. man and animals). Yet, moving systems in nature cope not only with the difficulties introduced by compliant materials, they also take advantage of the elasticity in muscles and tendons to produce smooth and even rapid movements. It is understood, that elasticity in a multi-jointed moving system requires sophisticated control mechanisms - as provided by a nervous system or a suitably programmed computer. In this contribution I shall describe a two-jointed robot with purpose-built elasticity in its actuators. This is accomplished by spiral springs placed in series with a conventional electric motor and a tendon to the arm. It is shown that, with sufficiently, soft elasticity, oscillations can be avoided by active oscillation damping. (Such active oscillation damping presumably also governs movement control in man and animals.) Furthermore, once the major problem has been overcome, elasticity is found to offer a wide spectrum of valuable advantages, as far as the most serious problems in traditional robotics are concerned. They are summarized by terms such as, `less dangerous', `position tolerant', `lightweight construction', `controlled forces' and, `ballistic movements'. These will be explained in detail and presented for discussions.

关键词： robotic arms

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sensor fusion for autonomous drone waypoint navigation using ROS and numerical P systems: a critical analysis of its advantages and limitations 22

Sensor fusion for autonomous drone waypoint navigation using...

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22nd International Conference on control systems and Computer Science (CSCS)

作者： Florea, Andrei George Buiu, Catalin Politeh Univ Bucharest Dept Automat Control & Syst Engn Bucharest Romania

ISBN: (纸本)9781728123318

Membrane computing (or P systems) is already a mature area of natural computing, inspired by the architecture and functioning of biological cells. Numerous theoretical results and application studies have demonstrated the power of P systems as distributed and parallel computing models. In this regard, there has been an increasing interest lately in the application of membrane computing in robotics. This has led to the introduction of new theoretical models of membrane systems (e.g. enzymatic numerical P systems) and the design of novel ways to control robots and swarms of robots using membrane systems. The problem addressed in this paper is sensor fusion for autonomous drone waypoint navigation, and a solution based on numerical P systems and Robot Operating System (ROS, a widely used software framework for building robotic systems) is developed and presented here. A critical analysis of the results offers new insights into the advantages and limitations of the use of membrane computing in controlling robots and drones.

关键词： quadcopter waypoint fiducial sensor fusion membrane computing

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