A basic decentralizedcontrol algorithm for modular manipulators was introduced to achieve robustness against partial failures, a reduced calculation load, and flexibility with regard to configuration and obstacle avo...
详细信息
ISBN:
(纸本)0819442992
A basic decentralizedcontrol algorithm for modular manipulators was introduced to achieve robustness against partial failures, a reduced calculation load, and flexibility with regard to configuration and obstacle avoidance. The algorithm uses a coupled nonlinear spring as a model for a manipulator and calculates the shape of the manipulator to balance with the coupled spring. Because encoding using coupled nonlinear dynamics can explain various shapes very simply, we can reduce the complexity of obstacle avoidance and adaptation to partial faults.
In this paper we propose a system for studying emergence of motion patterns in autonomous mobile roboticsystems. The system implements an instance-based reinforcement learning control. Three spaces are of importance ...
详细信息
ISBN:
(纸本)0819429848
In this paper we propose a system for studying emergence of motion patterns in autonomous mobile roboticsystems. The system implements an instance-based reinforcement learning control. Three spaces are of importance in formulation of the control scheme. They are the work space, the sensor space, and the action space. Important feature of our system is that all these spaces are assumed to be continuous. The core part of the system is a classifier system. Based on the sensory state space analysis, The control is decentralized and is specified at the lowest level of the control system. However, the local controllers are implicitly connected through the perceived environment information. Therefore, they constitute a dynamic environment with respect to each other. The proposed control scheme is tested under simulation for a mobile robot in a navigation task. It is shown that some patterns of global behavior - such as collision avoidance, wall-following, light-seeking - can emerge from the local controllers.
In the field of civil engineering an effective infernal monitoring of pipes and water storage is very problematic. Normally the sensors used for the task are either fixed or manually movable. Thus they will only provi...
详细信息
ISBN:
(纸本)0819426415
In the field of civil engineering an effective infernal monitoring of pipes and water storage is very problematic. Normally the sensors used for the task are either fixed or manually movable. Thus they will only provide locally and temporally restricted information. As a solution an underwater roboticsensor/actuator society is presented. The system is capable of operating inside a fluid environment as a kind of distributed sensory system. The value of the system emerges from the interactions between the members. Through a communication system the society fuses information from individual members and provides a more reliable estimate of the conditions inside water systems. Test results in a transparent demo process consisting of tanks and pipes with a volume of 700 liters are presented.
The typical planning, design or operations problem has multiple objectives and constraints. Such problems can be solved using only autonomous agents, each specializing in a small and distinct subset of the overall obj...
详细信息
ISBN:
(纸本)0819426415
The typical planning, design or operations problem has multiple objectives and constraints. Such problems can be solved using only autonomous agents, each specializing in a small and distinct subset of the overall objectives and constraints. No centralized control is necessary. Instead, agents collaborate by observing and modifying one another's work. Convergence to good solutions for a variety of real and academic problems has been obtained by embedding a few simple rules in each agent. The paper develops these rules and illustrates their use.
A method of automatically reducing uncertainties and calibrating possible biases involved in sensed data and extracted features by a system based on the geometric data fusion is presented. The perception net, as a str...
详细信息
ISBN:
(纸本)0819426415
A method of automatically reducing uncertainties and calibrating possible biases involved in sensed data and extracted features by a system based on the geometric data fusion is presented. The perception net, as a structural representation of the sensing capabilities of a system, connects features of various levels of abstraction, referred to here as logical sensors, with their functional relationships such as feature transformations, data fusions, and constraints to be satisfied. The net maintains the consistency of logical sensors based on the forward propagation of uncertainties as well as the backward propagation of constraint errors. A novel geometric data fusion algorithm is presented as a unified framework for computing forward and backward propagations through which the net achieves the self-reduction of uncertainties and self-calibration of biases. The effectiveness of the proposed method is validated through simulation.
This article proposes a behavioral control formalism to explain situations often encountered in complex sensor/data fusion (eventually decentralized) information acquisition, command and controlsystems, it involves m...
详细信息
This article proposes a behavioral control formalism to explain situations often encountered in complex sensor/data fusion (eventually decentralized) information acquisition, command and controlsystems, it involves making the input-output relations of each actor involved in the fusion process conditional on selected behavioral classes, with error creation and repair options. For each behavioral class, the input-output relations are modified by concurrent behavioral rules, while the class itself has visible and hidden attributes. A formalism is also given for interactions between actors. This approach allows to describe and analyze such situations as: indirect observations, ambiguous controls, hysterisis, deadlocks, initiation of attention mechanisms. Finally, the engineering use of this approach is illustrated by three concrete designs involving humans operating indoors.
In this paper we propose a model for agent-based control within teleoperation environments. We illustrate their role in providing automated assistance for task viewing. The paper reviews existing approaches to viewing...
详细信息
ISBN:
(纸本)0819426415
In this paper we propose a model for agent-based control within teleoperation environments. We illustrate their role in providing automated assistance for task viewing. The paper reviews existing approaches to viewing support, which tend to focus on augmented displays. We outline our approach to providing viewing support, based on ''visual acts''. agent-based architectures are reviewed and their application to viewing support under the visual acts model is presented. Communication is a key requirement for agent architectures. We present a system, channels, which we are currently developing to support the implementation of the agent model.
New experimental hardware for research into architectures for distributed intelligent embedded systems is proposed that will provide a wide range of communication media including non-deterministic broadcast such as Et...
详细信息
ISBN:
(纸本)0819426415
New experimental hardware for research into architectures for distributed intelligent embedded systems is proposed that will provide a wide range of communication media including non-deterministic broadcast such as Ethernet, deterministic broadcast such as CAN and processor busses such as VME. The emphasis is on large scale system integration rather than provision for individual capabilities. A prototype implementation of some of the proposed hardware and software modules is described together with their use in several research.
This paper reports on preliminary work involving a six-wheeled, all-terrain vehicle being prepared as an autonomous outdoor robotic vehicle, the navigation of which is to be initially supported by flux gate compass, d...
详细信息
This paper reports on preliminary work involving a six-wheeled, all-terrain vehicle being prepared as an autonomous outdoor robotic vehicle, the navigation of which is to be initially supported by flux gate compass, differential global positioning systems (DGPS), range sensing and distance transform based path planning. Extensions involving passive stereopsis ranging and natural-landmark-based localisation will be developed in the longer term.
This paper explores the design of robot systems to lake advantage of non-linear dynamic systems models, specifically symmetry breaking phenomena, to self-organise in response to task and environment demands. Recent re...
详细信息
ISBN:
(纸本)0819426415
This paper explores the design of robot systems to lake advantage of non-linear dynamic systems models, specifically symmetry breaking phenomena, to self-organise in response to task and environment demands. Recent research in the design of robotics systems has stressed modular, adaptable systems operating under decentralised acid distributed control architectures. Cooperative and emergent behavioural structures can be built on these modules by exploiting various forms of communication acid negotiation strategies. We focus on the design of individual modules and their cooperative interaction. We draw on nonlinear dynamic system models of human and animal behaviour to motivate issues in the design of robot modules and systems. Sonar sensing systems comprising a ring of sonar sensors are used to illustrate the Ideas within a networked robotics context, where distributed sensing modules located on multiple robots can interact cooperatively to scan an environment.
暂无评论