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IEEE International Conference on robotics and Automation (ICRA)

作者： Montijano, Eduardo Martinez, Sonia Sagues, Carlos Univ Zaragoza DIIS I3A E-50009 Zaragoza Spain Univ Calif San Diego Dept Mech & Aerosp Engn La Jolla CA 92093 USA

ISBN: (纸本)9781612843858

Data association mistakes, estimation and measurement errors are some of the factors that can contribute to incorrect observations in robotic sensor networks. In order to act reliably, a robotic network must be able to fuse and correct its perception of the world by discarding any outlier information. This is a difficult task if the network is to be deployed remotely and the robots do not have access to ground-truth sites or manual calibration. In this paper, we present a truth sites or manual calibration. In this paper, we present a novel, distributed scheme for robust data fusion in autonomous robotic networks. The proposed method adapts the RANSAC algorithm to exploit measurement redundancy, and enables robots determine an inlier observation with local communications. Different hypotheses are generated and voted for using a dynamic consensus algorithm. As the hypotheses are computed, the robots can change their opinion making the voting process dynamic. Assuming that at least one hypothesis is initialized with only inliers, we whow that the method converges to the maximum likelihood of all the inlier observations in a general instance. Several simulations exhibit the good performance of the algorithm, which also gives acceptable results in situations where the conditions to guarantee convergence do not hold.

关键词： Mobile robotic systems Robust Data fusion Distributed Algorithms Dynamic Voting sensor Network Calibration

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Toward robotic sensor webs: Algorithms, systems, and experiments

Toward robotic sensor webs: Algorithms, systems, and experim...

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作者： Chung, Hoam Oh, Songhwai Shim, David Hyunchul Sastry, S. Shankar Department of Mechanical and Aerospace Engineering Monash University Clayton VIC. 3800 Australia Seoul National University Seoul 151-744 Korea Republic of Department of Aerospace Engineering Korea Advanced Institute of Science and Technology Daejon 305-701 Korea Republic of Department of Electrical Engineering and Computer Science University of California Berkeley Berkeley CA 94720 United States

This paper presents recent advances in multiagent sensing and operation in dynamic environments. Technology trends point towards a fusion of wireless sensor networks with robotic swarms of mobile robots. In this paper, we discuss the coordination and collaboration between networked robotic systems, featuring algorithms for cooperative operations such as unmanned aerial vehicles (UAVs) swarming. We have developed cooperative actions of groups of agents such as probabilistic pursuit-evasion game for search and rescue operations, protection of resources, and security applications. We have demonstrated a hierarchical system architecture which provides wide-range sensing capabilities to unmanned vehicles through spatially deployed wireless sensor networks, highlighting the potential collaboration between wireless sensor networks and unmanned vehicles. This paper also includes a short review of our current research efforts in heterogeneous sensor networks, which is being evolved into mobile sensor networks with swarm mobility. In a very essential way, this represents the fusion of mobility of ensembles with the network embedded systems, the robotic sensor web. © 2011 IEEE.

关键词： Wireless sensor networks

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A multiagent framework for industrial robotic applications

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Procedia Computer Science 2011年 6卷 291-296页

作者： Marko Švaco Bojan Šekoranja Bojan Jerbic Faculty of Mechanical Engineering and Naval Architecture Ivana Lucica 5 10000 Zagreb Croatia

The paper presents a novel approach toward modeling and governing complex system behavior in flexible and adaptive robotic assembly systems. A fully distributed multiagent approach is implemented for autonomous control. The system is defined at multiple levels of granularity where agents provide services in respect to the current global goal. A decentralized multiagent approach is adopted for reasons of flexibility and fault tolerance embedded in the design phase. To prove the concept a robotic application for intelligent assembly is presented and discussed. It consists of multiple industrial robots equipped with force/torque sensors, 2D and 3D vision systems, automatic tool changers and other sensors and actuators. Through fusion of sensory input and mutual communication agents construct and negotiate an assembly plan and reconfigure respectively.

关键词： Distributed robotic systems Multiagent systems Assembly technology

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Cooperative and decentralized navigation of autonomous underwater gliders using predictive control

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IFAC Proceedings Volumes 2011年第1期44卷 12813-12818页

作者： A. Fonti A. Freddi S. Longhi A. Monteriù Università Politecnica delle Marche Ancona Italy

Abstract Coordinated fleet of autonomous Underwater Gliders (AUGs) can provide significant benefit to a number of marine applications including ocean sampling, mapping, surveillance and communication. Traditional techniques for navigating underwater vehicles have been designed for single-vehicle operations and do not scale well to multi-vehicle operations and missions. In this paper a navigation system for a fleet of AUGs is developed based on Networked decentralized Model Predictive control (ND-MPC). The proposed approach coordinates a group of point-mass mobile agents to achieve a desired formation, while avoiding collisions between themselves. In order to obtain collision free paths, the approach integrates the required collision avoidance constraints. The fleet localization is performed by sensor fusion using adaptive extended Kalman filtering. The free collision and convergence properties are verified through simulations results. The proposed approach can be generalized to formation of heterogeneous autonomous agents.

关键词： Predictive control decentralized systems Co-operative control Robot Navigation

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Study on Interaction Behaviors of Micro-autonomous Vehicles

Study on Interaction Behaviors of Micro-autonomous Vehicles

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International Symposium on autonomous decentralized systems (ISADAS)

作者： Deyi Li Xiaodong Wang Wen He Mu Guo Tianlei Zhang Department Computer Science and Technology Tsinghua University Beijing China

autonomous vehicles are very hot research area which advance artificial intelligent, pattern recognition, computer vision, sensor fusion and control theory. In the paper we demonstrate a kind of micro-autonomous vehicle, describing hardware and software architectures, perception system and control method-cloud control. Our goal is study interaction behaviors between autonomous vehicles and how to take appropriate measure to avoid driving conditions hazardous. We propose a new control alogrithm-cloud control algorithm and experiments show cloud control algorithm has good performance and flexibility.

关键词： Vehicles Roads Cameras Mobile robots Image color analysis Urban areas Computer architecture

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Force, acceleration and vision sensor fusion for contour following tasks with an industrial robot

Force, acceleration and vision sensor fusion for contour fol...

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International Workshop on Robot Sensing (ROSE)

作者： Heiko Koch Alexander König Alexandra Weigl-Seitz Karl Kleinmann Jozef Suchý University of Applied Sciences Darmstadt Darmstadt Germany Chemnitz Technical University Chemnitz Germany

In robotic contour following tasks such as sewing or cutting an industrial robot guides a tool along a contour of a workpiece. Teaching the task manually is very time consuming and the process would be unable to react to uncertainties or changes of the environment. Thus sensor systems are applied to reduce human intervention, making the robot more autonomous. In this paper we present an integrated approach for multisensor contour following. A look-ahead vision sensor guides the tool along a contour of a workpiece while force feedback control maintains a desired contact force. Couplings that arise between these two controllers are estimated and compensated through online measurements of contact forces between robot and environment. The identification of the environment combines force and acceleration sensors in an observer-based control scheme. The system is validated by experiments that involve contour following on compliant objects.

关键词： Robot sensing systems Force Acceleration Force measurement Position measurement Visualization

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The Unmanned Port Security Vessel: An autonomous platform for monitoring ports and harbors

The Unmanned Port Security Vessel: An autonomous platform fo...

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OCEANS

作者： Vincent Howard Jonathon Mefford Lee Arnold Brian Bingham Richard Camilli Mechanical Engineering Department University of Hawaii Manoa Honolulu HI USA Applied Ocean Physics and Engineering Woods Hole Oceanographic Institution Woods Hole MA USA

This paper describes the development of the Unmanned Port Security Vessel (UPSV), a small autonomous surface vehicle designed to support maritime domain awareness in port and harbor environments. The UPSV is capable of rapidly producing fine resolution, shallow-water bathymetry maps using a multibeam sonar, detecting chemical threats using an on board mass spectrometer and monitoring oceanographic parameters using off-the-shelf instruments. In this paper we discuss the significance and scientific advantages of sensor fusion on a small autonomous robotic platform, as well as detailing the control methods chosen for such a vehicle. Command and control of the robotic platform is implemented using the lightweight communications and marshalling (LCM) library, a general purpose software infrastructure for sensor integration and feedback control. Based on this foundation we have built a flexible software architecture that includes mission planning, real-time navigation and control, payload management and telemetry to support a variety of maritime domain awareness missions. Using the developed software and control methods, the UPSV is capable of autonomously generating high fidelity bathymetric maps while simultaneously conducting chemical surveys with a mass spectrometer. We demonstrate the utility of the software architecture and hardware integration through results from both simulation and experiments. We present the results of a set of field trials to evaluate the performance of the UPSV in operational settings. These experiments include system identification for estimation and control, feedback control performance evaluation, demonstration of autonomous high-resolution bathymetric mapping and demonstration of in-situ chemical sensing. The performance of the UPSV's control system is characterized with the presented navigation data, and the results of the bathymetric surveys and in-situ chemical sensing are detailed. The implementation of this functionality on a small, d

关键词： Vehicles Software Chemicals Sonar Instruments Hardware Command and control systems

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Robot Navigation in a decentralized Landmark-Free sensor Network

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JOURNAL OF INTELLIGENT & robotic systems 2010年第3-4期60卷 553-576页

作者： Mercker, Travis Akella, Maruthi Alvarez, Jorge Univ Texas Austin Dept Aerosp Engn & Engn Mech Austin TX 78712 USA

A wireless sensor network has the ability to autonomously perform event detection over large areas, but power and/or cost constraints limit the addition of equipment such as cameras onto sensor modules to verify events. Accordingly, verification must be performed by an independent mobile robotic vehicle which has sensing equipment for improved event detection. The main challenge, however, is that the robotic vehicle itself is typically located somewhere in the sensor field and has no prior knowledge of the geographic location of the event. In this paper, we specifically focus upon the scenario of navigating a robotic vehicle through a stationary wireless sensor network as a means to perform event verification. The underlying assumptions are that the robotic vehicle has distance traveled and heading measurements, but the only additional information provided by the stationary sensors is a communication boundary. More significantly, we emphasize that under this scenario, neither the robot nor the ground-fixed sensing nodes have location or any other geographical landmark information. The paper introduces two distinct and novel navigation algorithms that permit the robotic vehicle to travel from one fixed node to another along a communication path established in an ad-hoc fashion. These navigation algorithms have been tested on a newly developed UTrekr robotic vehicle within a hardware based ground-fixed sensor network and under assumption of perfect communication and network operations, we report a nearly 100% success rate even while using open-loop robot control.

关键词： decentralized sensor networks Mobile robotics Non-localized navigation autonomous navigation Event detection

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Vision-based Position control of a Two-rotor VTOL miniUAV

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JOURNAL OF INTELLIGENT & robotic systems 2010年第1-4期57卷 49-64页

作者： Rondon, E. Salazar, S. Escareno, J. Lozano, R. Univ Technol Compiegne CNRS UMR 6599 F-60206 Compiegne France CNRS UMI 3175 Lab Franco Mexicain Informat & Automat Mexico City DF Mexico

In this paper we address the stabilization of the attitude and position of a birotor miniUAV to perform autonomous flight. For this purpose, we have implemented a Kalman-based sensor fusion between inertial sensors (gyros-accelerometers) and the optical flow (OF) provided by the vehicle. This fusion algorithm extracts the translational-OF (TOF) component and discriminates the rotational OF (ROF). The aircraft's position is obtained through an object detection algorithm (centroid tracking). Newton-Euler motion equations were used to deduce the mathematical model of the vehicle. In terms of control we have employed a saturated-based control to stabilize the state of the aircraft around the origin. Experimental autonomous flight was successfully achieved, which validates the sensing strategy as well as the embedded control law.

关键词： Optical flow Nonlinear control VTOL aircraft

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decentralized sensor fusion for Ubiquitous Networking robotics in Urban Areas

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sensorS 2010年第3期10卷 2274-2314页

作者： Sanfeliu, Alberto Andrade-Cetto, Juan Barbosa, Marco Bowden, Richard Capitan, Jesus Corominas, Andreu Gilbert, Andrew Illingworth, John Merino, Luis Mirats, Josep M. Moreno, Plinio Ollero, Anibal Sequeira, Joao Spaan, Matthijs T. J. UPC CSIC Inst Robot & Informat Ind Barcelona Spain Inst Super Tecn Lisbon Portugal Inst Syst & Robot Lisbon Portugal Univ Surrey Ctr Vis Speech & Signal Proc Guildford GU2 5XH Surrey England Pablo Olavide Univ Seville Spain Univ Seville Robot Vis & Control Grp Seville Spain Ctr Adv Aerosp Technol Seville Spain

In this article we explain the architecture for the environment and sensors that has been built for the European project URUS (Ubiquitous Networking robotics in Urban Sites), a project whose objective is to develop an adaptable network robot architecture for cooperation between network robots and human beings and/or the environment in urban areas. The project goal is to deploy a team of robots in an urban area to give a set of services to a user community. This paper addresses the sensor architecture devised for URUS and the type of robots and sensors used, including environment sensors and sensors onboard the robots. Furthermore, we also explain how sensor fusion takes place to achieve urban outdoor execution of robotic services. Finally some results of the project related to the sensor network are highlighted.

关键词： network robot systems distributed sensors robot sensors camera network

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