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Conference on sensor fusion and decentralized control in robotic systems III

作者： Metta, G Panerai, F Sandini, G Univ Genoa DIST LIRA Lab Genoa Italy

ISBN: (纸本)0819438618

The study of development either artificial or biological, can highlight the mechanisms underlying learning and adaptive behavior. We shall argue whether developmental studies might provide a different and potentially interesting perspective either on how to build an artificial adaptive agent, or on understanding how the brain solves sensory, motor, and cognitive tasks. It is our opinion that the acquisition of the proper behavior might indeed be facilitated because within an ecological context, the agent, its adaptive structure and the environment dynamically interact thus constraining the otherwise difficult "learning problem". In very general terms we shall describe the proposed approach and supporting biological related facts. In order to further analyze these aspects from the modeling point of view, we shall demonstrate how a twelve degrees of freedom "baby" humanoid robot acquires orienting and reaching behaviors, and what advantages the proposed framework might offer. In particular, the experimental setup consists of a five degrees-of-freedom (dof) robot head, and an off-the-shelf six dof robot manipulator, both mounted on a rotating base: i.e. the torso. From the sensory point of view, the robot is equipped with two space-variant cameras, an inertial sensor simulating the vestibular system, and proprioceptive information through motor encoders. The biological parallel is exploited at many implementation levels. It is worth mentioning, for example, the space-variant eyes, exploiting foveal and peripheral vision in a single arrangement, the inertial sensor providing efficient image stabilization (vestibulo-ocular reflex).

关键词： biomimetic robotics learning development sensori-motor coordination

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Get in touch: cooperative decision making based on robot-to-robot collisions

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autonomous AGENTS AND MULTI-AGENT systems 2009年第1期18卷 133-155页

作者： Schmickl, Thomas Thenius, Ronald Moeslinger, Christoph Radspieler, Gerald Kernbach, Serge Szymanski, Marc Crailsheim, Karl Karl Franzens Univ Graz Dept Zool Graz Austria Univ Appl Sci St Poelten St Polten Austria Univ Stuttgart Inst Parallel & Distributed Syst Stuttgart Germany Univ Karlsruhe TH Inst Proc Control & Robot Karlsruhe Germany

We demonstrate the ability of a swarm of autonomous micro-robots to perform collective decision making in a dynamic environment. This decision making is an emergent property of decentralized self-organization, which results from executing a very simple bio-inspired algorithm. This algorithm allows the robotic swarm to choose from several distinct light sources in the environment and to aggregate in the area with the highest illuminance. Interestingly, these decisions are formed by the collective, although no information is exchanged by the robots. The only communicative act is the detection of robot-to-robot encounters. We studied the performance of the robotic swarm under four environmental conditions and investigated the dynamics of the aggregation behaviour as well as the flexibility and the robustness of the solutions. In summary, we can report that the tested robotic swarm showed two main characteristic features of swarm systems: it behaved flexible and the achieved solutions were very robust. This was achieved with limited individual sensor abilities and with low computational effort on each single robot in the swarm.

关键词： Swarm robotics Collective decision Swarm intelligence Honey bees Heterogeneous environment

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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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Towards autonomous control of Surgical Instruments using Adaptive-fusion Tracking and Robot Self-Calibration

Towards Autonomous Control of Surgical Instruments using Ada...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Wang, Chiyu Cartucho, Joao Elson, Daniel Darzi, Ara Giannarou, Stamatia Imperial Coll London Hamlyn Ctr Robot Surg London SW7 2AZ England

ISBN: (数字)9781665479271

ISBN: (纸本)9781665479271

The ability to track surgical instruments in real-time is crucial for autonomous robotic Assisted Surgery (RAS). Recently, the fusion of visual and kinematic data has been proposed to track surgical instruments. However, these methods assume that both sensors are equally reliable, and cannot successfully handle cases where there are significant perturbations in one of the sensors' data. In this paper, we address this problem by proposing an enhanced fusion-based method. The main advantage of our method is that it can adjust fusion weights to adapt to sensor perturbations and failures. Another problem is that before performing an autonomous task, these robots have to be repetitively recalibrated by a human for each new patient to estimate the transformations between the different robotic arms. To address this problem, we propose a self-calibration algorithm that empowers the robot to autonomously calibrate the transformations by itself in the beginning of the surgery. We applied our fusion and self-calibration algorithms for autonomous ultrasound tissue scanning and we showed that the robot achieved stable ultrasound imaging when using our method. Our performance evaluation shows that our proposed method outperforms the state-of-art both in normal and challenging situations.

关键词： Visualization Ultrasonic imaging Instruments Perturbation methods Surgery sensor fusion Robot sensing systems

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Resource-based action planning for multi-agent systems

Resource-based action planning for multi-agent systems

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Conference on sensor fusion amd decentralized control in robotic systems

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

ISBN: (纸本)0819429848

With the use of multi-robot-systems new chances and perspectives are revealed for industrial, space- and underwater-applications. At the IRF, a versatile multi-robot-control, which fully exploits the inherent flexibility of a multi-robot-system, has been developed. In order to guarantee optimized system-throughput and increased autonomy, the system builds on a new resource-based action planning approach to coordinate the different robot manipulators and other automation components in the workcell. An important issue of the realized action planning component to be applicable to real world problems is that it is realized as an integral part of the hierarchical multi-robot control structure IRCS (Intelligent Robot control System). The IRCS is the multi-robot control that was chosen by the German Space Agency (DLR) for major space automation projects. In this structure the resource-based action planning component is tightly integrated with components for coordinated task execution and collision avoidance to guarantee save operation of all agents in the multi-robot system. As the action planning component "understands" task descriptions on a high level of abstraction it is also the perfect counterpart for a Projective Virtual Reality (VR) system. The paper will describe the mechanism of resource based action planning, the practical experiences gained from the implementation for the IRCS as well as its services to support VR-based man machine interfaces.

关键词： resource-based action planning action pattern net multistage action planning online model expansion intelligent multi-robot-control exploitation of flexibility virtual reality user friendliness increased autonomy and safety

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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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Analysis of decentralized variable structure control for collective search by mobile robots

Analysis of decentralized variable structure control for col...

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sensor fusion and decentralized control in robotic systems IV

作者： Goldsmith, Steven Feddema, John Robinett, Rush Sandia National Laboratories Albuquerque NM 87185-8926 United States

This paper presents an analysis of a decentralized coordination strategy for organizing and controlling a team of mobile robots performing collective search. The alpha-beta coordination strategy is a family of collective search algorithms that allow teams of communicating robots to implicitly coordinate their search activities through a division of labor based on self-selected roles. In an alpha-beta team, alpha agents are motivated to improve their status by exploring new regions of the search space. Beta agents are conservative, and rely on the alpha agents to provide advanced information on favorable regions of the search space. An agent selects its current role dynamically based on its current status value relative to the current status values of the other team members. Status is determined by some function of the agent's sensor readings, and is generally a measurement of source intensity at the agent's current location. Variations on the decision rules determining alpha and beta behavior produce different versions of the algorithm that lead to different global properties. The alpha-beta strategy is based on a simple finite-state machine that implements a form of Variable Structure control (VSC). The VSC system changes the dynamics of the collective system by abruptly switching at defined states to alternative control laws. In VSC, Lyapunov's direct method is often used to design control surfaces which guide the system to a given goal. We introduce the alpha-beta algorithm and present an analysis of the equilibrium point and the global stability of the alpha-beta algorithm based on Lyapunov's method.

关键词： Mobile robots

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Modular telerobot control system for accident response

Modular telerobot control system for accident response

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Proceedings of the 1999 sensor fusion and decentralized control in robotic systems II

作者： Anderson, Robert J. Shirey, David L. Sandia Natl Lab Albuquerque United States

The Accident Response Mobile Manipulator System (ARMMS) is a teleoperated emergency response vehicle that deploys two hydraulic manipulators, five cameras, and an array of sensors to the scene of an incident. It is operated from a remote base station that can be situated up to four kilometers away from the site. Recently, a modular telerobot control architecture called SMART (Sandia's Modular Architecture for robotic and Teleoperation) was applied to ARMMS to improve the precision, safety, and operability of the manipulators on board. Using SMART, a prototype manipulator control system was developed in a couple of days, and an integrated working system was demonstrated within a couple of months. New capabilities such as camera-frame teleoperation, autonomous tool changeout and dual manipulator control have been incorporated. The final system incorporates twenty-two seperate modules and implements seven different behavior modes. This paper describes the integration of SMART into the ARMMS system.

关键词： Modular robots

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