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10th International Conference on Informatics in control, Automation and robotics, ICINCO 2013

作者： Cucci, Davide Antonio Matteucci, Matteo Dipartimento di Elettronica Informazione e Bioingegneria Politecnico di Milano Milan Italy

ISBN: (纸本)9789898565716

The design and the development of the position and orientation tracking system of a mobile robot, and the calibration of its sensor parameters (e.g., displacement, misalignment and iron distortions), are challenging and time consuming tasks in every autonomous robotics project. The ROAMFREE framework delivers turn-on-and-go multi-sensors pose tracking and self-calibration modules and it is designed to be flexible and to adapt to every kind of mobile robotic platform. In ROAMFREE, the sensor data fusion problem is formulated as a hyper-graph optimization where nodes represent poses and calibration parameters and edges the non-linear measurement constraints. This formulation allows us to solve both the on-line pose tracking and the off-line sensor self-calibration problems. In this paper, we introduce the approach and we discuss a real platform case study, along with experimental results.

关键词： Mobile robots

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Incremental Light Bundle Adjustment for robotics Navigation

Incremental Light Bundle Adjustment for Robotics Navigation

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

作者： Indelman, Vadim Melim, Andrew Dellaert, Frank Georgia Inst Technol Coll Comp Atlanta GA 30332 USA

ISBN: (纸本)9781467363587

This paper presents a new computationally-efficient method for vision-aided navigation (VAN) in autonomous robotic applications. While many VAN approaches are capable of processing incoming visual observations, incorporating loop-closure measurements typically requires performing a bundle adjustment (BA) optimization, that involves both all the past navigation states and the observed 3D points. Our approach extends the incremental light bundle adjustment (LBA) method, recently developed for structure from motion [10], to information fusion in robotics navigation and in particular for including loop-closure information. Since in many robotic applications the prime focus is on navigation rather then mapping, and as opposed to traditional BA, we algebraically eliminate the observed 3D points and do not explicitly estimate them. Computational complexity is further improved by applying incremental inference. To maintain high-rate performance over time, consecutive IMU measurements are summarized using a recently-developed technique and navigation states are added to the optimization only at camera rate. If required, the observed 3D points can be reconstructed at any time based on the optimized robot's poses. The proposed method is compared to BA both in terms of accuracy and computational complexity in a statistical simulation study.

关键词： computational complexity control engineering computing inference mechanisms mobile robots navigation optimisation robot vision sensor fusion

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Challenges in developing software for cyber-physical systems 13

Challenges in developing software for cyber-physical systems

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5th Asia-Pacific Symposium on Internetware, Internetware 2013

作者： Zhang, Linghao Sun, Hui Ma, Xiaoxing Xu, Chang Lu, Jian Dept. of Computer Science and Technology State Key Laboratory for Novel Software Technology Nanjing University China

ISBN: (纸本)9781450323697

Cyber-physical systems are systems that integrate the digital com- putational world with the real physical world, often using sensors and actuators as interfaces. There exist many application domain- s of cyber-physical systems such as autonomous systems, process control systems, robotic systems, and context-aware systems. The physical world is a complex and continuous world that changes in real-time while the computational world is a simplified and dis- crete world that often stores a delayed, likely inaccurate image of the physical world using sensory data. The mismatch between these two worlds poses unique challenges of developing software for cyber-physical systems. In this paper, we mainly (1) illustrate this mismatch problem by presenting difficulties that we faced during two projects of devel- oping software for cyber-physical systems: the self-adaptive robot car project and iSpace project;(2) systematically analyse the rea- son for the mismatch problem based on our first-hand experiences;(3) summarize a general methodology on how to partly bridge the gap between the two mismatched worlds to better develop software for cyber-physical systems based on the knowledge learned from the two projects. We expect that these experiences can help other- s in better design and develop cyber-physical systems and can be used to explore new techniques (such as new testing techniques) to improve the quality of cyber-physical systems. Categories and Subject Descriptors C.0 [General]: Hardware/software interfaces;I.2.9 [robotics]: autonomous vehicles;I.4.8 [Scene Analysis]: sensor fusion General Terms Design, Reliability.

关键词： Cyber Physical System

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Fuzzy controller based subsumption behavior architecture for autonomous robotic wheelchair

Fuzzy controller based subsumption behavior architecture for...

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International Conference on Advanced robotics and Intelligent systems (ARIS)

作者： Fahmi Zal Ting-Shuo Chen Shou-Wei Chi Chung-Hsien Kuo Department of Electrical Engineering National Taiwan University of Science and Technology Taipei Taiwan

This paper presents the design and implementation of fuzzy controller based subsumption behavior architecture for controlling an autonomous robotic wheelchair. Behaviors of autonomous robotic wheelchair generally developed with one or more basic behaviors such as goal seeking, wall following, obstacle avoidance and finding target based on different environmental conditions. Therefore, to maximize the navigation performance, fuzzy controller based subsumption behavior architecture is proposed as a sensor fusion algorithm and to find most suitable robotic wheelchair behavior according to environment condition. The arbitrate competition is used to decide which behavior controller has a higher priority, then robotic wheelchair can be controlled by the highest priority behavior during the robotic wheelchair movement towards the goal or target. In order to verify our approach, a robotic wheelchair is controlled with a microcontroller for motion control and sensors information acquisition, personal computer connects to a web-camera for visual localization. The experiment of simulation and test results were presented to show the validity of the proposed method.

关键词： Robot sensing systems Mobile robots Wheelchairs Robot kinematics Collision avoidance Navigation

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Tightly Coupled Visual-Inertial Navigation System Using Optical Flow

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IFAC Proceedings Volumes 2013年第30期46卷 251-256页

作者： Simon Lynen Sammy Omari Matthias Wüest Markus Achtelik Roland Siegwart Autonomous Systems Lab ETH Zürich Switzerland

This paper presents a state estimation framework that allows estimating the attitude, full metric speed and the orthogonal metric distance of an IMU-camera system with respect to a plane. The filter relies on optical flow- as well as gyroscope and accelerometer measurements. The underlying assumption is that the observed visual feature lies on a static plane. The orientation of the observed plane is not required to be known a-priori and is also estimated at run-time. The estimation framework fuses visual and inertial measurements in an Extended Kalman Filter (EKF). Experiments using a hand-held visual-inertial sensor successfully demonstrate the performance of the filter. It is shown that the state estimate is converging correctly, even in presence of substantial initial state errors. The minimal sensor suite, which is both light-weight and low-cost, renders the framework an appealing choice for the use as a navigation system on a wide range of robotic platforms, such as ground- or flying robots.

关键词： Optical Flow control State Estimation Extended Kalman Filter Tight fusion

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An autonomous mobile robot for indoor security patrol

An autonomous mobile robot for indoor security patrol

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International Conference on Fuzzy Theory and it's Applications (iFUZZY)

作者： Min-Fan Ricky Lee Nguyen The Hung Fu-Hsin Steven Chiu Graduate Institute of Automation and Control National Taiwan University of Science and Technology Taipei Taiwan ROC National Taiwan University of Science and Technology Taipei TW

With rapidly changing of technology, there are more and more robotic applications in household security. Security patrol with human in charge is high labor cost as well as shortage of human resource. Mobile robot can solve some of these problems but it faced difficulties of uncertainties in sensor system, unstructured environments, or lack adaptive ability to situation and dynamic environments. This paper proposed a security system utilized mobile robot with sensor fusion technique to assist its intelligent control system. System is autonomous control to process the environment for security patrol mission. Our system achieved success patrolling all rooms of a test house while avoiding random obstacles. In patrolling process, our system succeed detect intruder as well as recognize family members. Total time of the patrolling is less than ten minutes included intruder detection.

关键词： Mobile robots Robot sensing systems Sonar Educational institutions Wheels Security

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autonomous Navigation of a Surveillance Robot in Harsh Outdoor Road Environments

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ADVANCES IN MECHANICAL ENGINEERING 2013年第Pt.3期5卷 837484-1-837484-15页

作者： Shin, Youjin Kim, Donghyeon Lee, Hyunsuk Park, Jooyoung Chung, Woojin Korea Univ Sch Mech Engn Seoul South Korea Korea Univ Dept Control & Instrumentat Seoul South Korea

This paper deals with the autonomous navigation problem of a mobile robot in outdoor road environments. The target application is surveillance in petroleum storage bases. Although there have been remarkable technological achievements recently in the area of outdoor navigation, robotic systems are still expensive due to a large number of high cost sensors. This paper proposes the reliable extraction algorithm of traversable regions using a single onboard Laser Range Finder (LRF) in outdoor road environments. The traversable regions are derived from the classifications of the road surfaces, curbs, and obstacles. The proposed scheme was experimentally tested in success. Since there are many potential applications that require autonomous service robots to move in semistructured road environments, the proposed scheme can be widely used as a low-cost practical solution.

关键词： Road autonomous navigation Environments Traversable Outdoors Kerbstones Mobile robots

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systems Engineering Education through Participation in Engineering Competitions

Systems Engineering Education through Participation in Engin...

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ASEE Annual Conference

作者： Gonzalez, Fernando Garcia Texas A&M Int Univ Engn Laredo TX 78041 USA

ISBN: (纸本)9780878232413

There are many student competitions involving complex engineering designs and in particular involving robotics or robotic vehicles. In the Department of Defense's Intelligent Ground Vehicle Competition, IGVC, Students create autonomous vehicles that navigate an obstacle course using only its own systems with no human interaction. This results in the vehicle having very complex and sophisticated engineering systems including vision, a laser range finder, global positioning systems and many other sensory devises. It also involves very sophisticated software to perform the autonomous navigation using the sensor inputs. The complexity of the project necessitates the involvement of a relatively large group of students working together on different parts of the system. The robotics Laboratory at the University of Central Florida has been participating in the annual IGVC competition since 2002. In this project the students learn about most of the engineering disciplines that are typically included in a complex robotic project such as software design, computer vision, sensor data interpretation and fusion, robotic motion planning, vehicle navigation, vehicle design and construction, electric motor control, computer interfaces to various components and many others. Naturally this education compliments the core engineering education they receive during their course education. However one very important engineering discipline that they learn is systems engineering. The success of the project involves a strong systems engineering effort to integrate all the individual components, to design the overall system, to consider the complete life cycle, and to coordinate and oversee the project and its team members. The team generally shares the systems engineering responsibility as they are all involved in the higher level decisions that need to be made. This exposes all of the students in the team to systems engineering education which is especially beneficial when you consider that

关键词： Students

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Proceedings - 2012 2nd Brazilian Conference on Critical Embedded systems, CBSEC 2012

Proceedings - 2012 2nd Brazilian Conference on Critical Embe...

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2012 2nd Brazilian Conference on Critical Embedded systems, CBSEC 2012

ISBN: (纸本)9780769547282

The proceedings contain 18 papers. The topics discussed include: autonomous self-localization of mobile robots through reference point based computer vision;wind velocity neural estimator for small autonomous surface vehicles;intelligent robotic car for autonomous navigation: platform and system architecture;a systematic mapping of architectures for embedded software;using Simulink to generate HDL code for validating an embedded kalman filter;mobile robots navigation in indoor environments using kinect sensor;an intelligent autonomous vehicle management system;performance evaluation of security communication in critical embedded systems;secure connection re-establishment for session-based IP mobility;decentralized power aware approach for data fusion in IEEE 802.15.4 wireless sensor networks;and a heterogeneous preemptive and non-preemptive scheduling approach for real-rime systems on multiprocessors.

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An experimental evaluation of bayesian soft human sensor fusion in robotic systems

An experimental evaluation of bayesian soft human sensor fus...

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AIAA Guidance, Navigation, and control Conference 2012

作者： Sample, Eric Ahmed, Nisar Campbell, Mark Dept. of Mechanical and Aerospace Engineering Cornell University Ithaca NY United States

ISBN: (数字)9781600869389

ISBN: (纸本)9781600869389

As we move forward into the twenty-first century, we are seeing new horizons opening to us through the use of autonomous robots as explorers, going places we can't or won't. The interaction between the human operator and robotic agent is of paramount importance in exploring these new horizons. Both humans and robots have their strengths and weak- nesses, and this paper explores how they compliment each other and looks at new, more eficient ways to facilitate communication between the robot and its operator. This paper investigates conditions to the use of Bayesian information fusion algorithms with Gaussian mixture models to fuse soft human input with robotic sensor data to complete cooperative mission objectives. The condition investigated here are the benefits of training individual models for the human input, or if a generic model trained on many people is suficient to complete the mission;we are also seeking to determine if it is useful to allow the human operator to assign a confidence value to the information sent to the robot. These two conditions are evaluated with sizable number of human subjects working with a robotic platform to complete a multi-target search mission. Along with the results of these two conditions, reactions to the limited interaction with a robotic partner of a variety of people will be presented based on a survey that was performed once the trials were completed. © 2012 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.

关键词： Personnel training

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