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Conference on sensor fusion and decentralized control in autonomous robotic systems

作者： Elsner, DL Whitaker, RT Abidi, MA Univ. of Tennessee/Knoxville (United States)

ISBN: (纸本)0819426415

This paper presents a method to fuse multiple noisy range images to obtain a 3-D model of an object. This method projects each range image onto a volumetric grid that is divided into volume elements (voxels). We place a value in each voxel that represents our degree of certainty that that voxel is inside the sensed object. We determine this value by constructing a line from the voxel to the sensor's location and calculating the point that it intersects the range image. The certainty value is determined from the distance from the voxel to the range image intersection point and an estimate of the sensor's noise characteristics. The super Bayesian combination formula is used to fuse the grids created from the individual range images into an overall volumetric grid. We obtain the object model by extracting an isosurface at the value of 1/2 from the volumetric data using a variation of the marching cubes algorithm.

关键词： volumetric modeling range images sensor data fusion

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Development of a self-reconfigurable modular robotic system

Development of a self-reconfigurable modular robotic system

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Conference on sensor fusion and decentralized control in robotic systems III

作者： Tomita, K Murata, S Yoshida, E Kurokawa, H Kamimura, A Kokaji, S Minist Int Trade & Ind Agcy Ind Sci & Technol Mech Engn Lab Tsukuba Ibaraki 3058564 Japan

ISBN: (纸本)0819438618

We present a novel type of modular robotic system that has a capability of both autonomous shape reconfiguration and robotic motion generation. We have developed hardware modules and examined basic mechanical functions and reconfiguration. A simulation system of the modular robotic system has also been developed to design the reconfiguration sequence and motion for a cluster of the modules.

关键词： self-reconfigurable robot distributed autonomous system modular robot

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Fault Resilient decentralized Multi-sensorial fusion Based Pose Estimation for autonomous Navigation Around Asteroid

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INTERNATIONAL JOURNAL OF control AUTOMATION AND systems 2023年第6期21卷 2031-2042页

作者： Mukherjee, Moumita Banerjee, Avijit Satpute, Sumeet Gajanan Nikolakopoulos, George Lulea Univ Technol Dept Comp Elect & Space Engn Robot & AI Team SE-97187 Lulea Sweden

A decentralized multi-sensor fusion-based resilient pose estimation architecture for autonomous navigation of satellites around an asteroid is presented in this article. Navigation around an asteroid is challenging due to dynamic illumination conditions, which restricts the vision-based localization and is partially ineffective for a longer duration of the operation. Moreover, drift in sensor measurement and temporal sensor failure is often encountered in long-duration sustainable space missions. This is more so around a debris-prone region, where momentary obstruction leads to inaccurate sensor measurement for a temporary period of operation. In order to establish a resilient localization mechanism for satellites around an asteroid, the proposed framework embeds a unique automatic fault detection and isolation approach in a decentralized fusion formalism. Furthermore, a unified framework can operate autonomously during temporary and long-range inoperative periods. In the first stage, innovative fault detection is proposed, which operates based on the residual of a judiciously designed filter assembly. Secondly, a novel fault-resilient isolation fusion called the fault-resilient optimal information filter fusion (FR-OIF) technique is presented, enabling self-resiliency by embedding an inbuilt fault isolation mechanism. The proposed resilient asteroid navigation approach is demonstrated with a simulation study considering a satellite equipped with multiple onboard sensors such as an inertial measurement unit, star tracker, camera and 3D-Lidar in the proximity of the asteroid Ryugu. At the same time, its superiority is also demonstrated through a comparison with the centralized multi-sensorial fusion approach.

关键词： Asteroid navigation decentralize fusion fault resilient decentralized fusion filter bank maximum likelihood function multi-sensor fusion

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Dynamic Bayes net approach to multimodal sensor fusion

Dynamic Bayes net approach to multimodal sensor fusion

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Conference on sensor fusion and decentralized control in autonomous robotic systems

作者： Singhal, A Brown, C Univ. of Rochester (United States)

ISBN: (纸本)0819426415

autonomous mobile robots rely on multiple sensors to perform a varied number of tasks in a, given environment. Different tasks may need different sensors to estimate different subsets of world state. Also, different sensors can cooperate in discovering common subsets of world state. This paper presents a nerv approach to multimodal sensor fusion using dynamic Bayesian networks and an occupancy grid. The environment in which the robot operates is represented with an occupancy grid, This occupancy grid is asynchronously updated using probabilistic data obtained from multiple sensors and combined using Bayesian networks. Each cell in the occupancy grid stores multiple probability density functions representing combined evidence for the identity, location and properties of objects in the world. The occupancy grid a;iso contains probabilistic representations for moving objects. Bayes nets allow information from one modality to provide cues for interpreting the output of sensors in other modalities. Establishing correlations or associations between sensor readings or interpretations leads to learning the conditional relationships between them, Thus bottoms-up, reflexive, or even accidentally-obtained information earn provide tops-down cues for other sensing strategies. We present early results obtained for a mobile robot navigation task.

关键词： dynamic Bayes nets multimodal sensor fusion mobile robot navigation occupancy grids

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Self-repairing mechanical system

Self-repairing mechanical system

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sensor fusion and decentralized control in robotic systems II Conference

作者： Murata, S Yoshida, E Kurokawa, H Tomita, K Kokaji, S Mechanical Engineering Lab Japan

ISBN: (纸本)0819434329

A concept of a self-repairable mechanical system which is composed of homogeneous mechanical units is described. We have developed a modular system capable of "self-assembly" and self-repair. The former means a set of units can form a given shape of the system without outside help, and the latter means the system restores the original shape if an arbitrary part of the system cut off. We show both of two-dimensional and three-dimensional unit design, and distributed algorithms for the units.

关键词： self-repairing system self-reconfiguration distributed autonomous system fault tolerant

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Dynamic sensor action selection with Bayesian decision analysis

Dynamic sensor action selection with Bayesian decision analy...

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Conference on sensor fusion amd decentralized control in robotic systems

作者： Kristensen, S Hansen, V Kondak, K Daimler Benz AG Res Lab Autonomous Syst Intelligent Syst Grp D-10559 Berlin Germany

ISBN: (纸本)0819429848

The aim of this work is to create a framework for the dynamic planning of sensor actions for an autonomous mobile robot. The framework uses Bayesian decision analysis, i.e., a decision-theoretic method, to evaluate possible sensor actions and selecting the most appropriate ones given the available sensors and what is currently known about the state of the world. Since sensing changes the knowledge of the system and since the current state of the robot (task, position, etc.) determines what knowledge is relevant, the evaluation and selection of sensing actions is an on-going process that effectively determines the behaviour of the robot. The framework has been implemented on a real mobile robot and has been proven to be able to central in real-time the sensor actions of the system. In current work we are investigating methods to reduce or automatically generate the necessary model information needed by the decision-theoretic method to select the appropriate sensor actions.

关键词： sensor selection action selection Bayesian decision analysis mobile robots

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A modular planning/control architecture for the semi-autonomous control of telerobots in a hazardous environment

A modular planning/control architecture for the semi-autonom...

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Conference on sensor fusion and decentralized control in autonomous robotic systems

作者： Tarn, TJ Brady, K Xi, N Love, L Lloyd, P Burks, B Davis, H Department of Systems Science and Mathematics Washington University St. Louis MO 63130 United States Oak Ridge National Laboratory Robotics and Process Systems Division Oak Ridge TN 37831-6304 United States

ISBN: (纸本)0819426415

The Oak Ridge National Laboratory (ORNL) has demonstrated, evaluated, and deployed a telerobotic approach for the remote retrieval of hazardous and radioactive wastes from underground storage tanks. The telerobotic system, built by Spar Aerospace Ltd., is capable of dislodging and removing sludge and gravel-like wastes without endangering the human operators through contact with the environment. Working in partnership with Washington University, ORNL has implemented an Event Based Planner/Function Based Sharing control (FBSC) as an integral part of their overall telerobotic architecture. These aspects of the system enable the seamless union of the human operator and an autonomous controller in such a way to emphasize safety without any loss of performance. The cooperation between ORNL, Spar, and Washington University requires an open and modular control software architecture to enable the parallel development of various components of the system. controlShell has been used as the underlying software architecture to help meet these criteria of generality and modularity.

关键词： intelligent control semi-autonomous control teleoperation control systems

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sensor supervision and multi-agent commanding by means of "Projective Virtual Reality"

Sensor supervision and multi-agent commanding by means of "P...

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Conference on sensor fusion amd decentralized control in robotic systems

作者： Rossmann, J Univ Dortmund Inst Robot Res D-44227 Dortmund Germany

ISBN: (纸本)0819429848

When autonomous systems with multiple agents are considered, conventional control- and supervision technologies are often inadequate because the amount of information available is often presented in a way that the user is effectively overwhelmed by the displayed data. New virtual reality (VR) techniques can help to cope with this problem, because VR offers the chance to convey information in a intuitive manner and can combine supervision capabilities and new, intuitive approaches to the control of autonomous systems. In the approach taken, control and supervision issues were equally stressed and finally led to the new ideas and the general framework for Projective Virtual Reality. The key idea of this new approach for an intuitively operable man machine interface for decentrally controlled multi-agent systems is to let the user act in the virtual world, detect the changes and have an action planning component automatically generate task descriptions for the agents involved to project actions that have been carried out by users in the virtual world into the physical world, e.g. with the help of robots. Thus the Projective Virtual Reality approach is to split the job between the task deduction in the VR and the task "projection" onto the physical automation components by the automatic action planning component. Besides describing the realized projective virtual reality system, the paper will also describe in detail the metaphors and visualization aids used to present different types of (e.g. sensor-) information in an intuitively comprehensible manner.

关键词： Virtual reality Robots control systems sensors Visualization Space robots Cameras robotic systems Computer simulations robotics

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Robot work crews for planetary outposts: close cooperation and coordination of multiple mobile robots

Robot work crews for planetary outposts: close cooperation a...

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Conference on sensor fusion and decentralized control in robotic systems III

作者： Schenker, PS Huntsberger, TL Pirjanian, P Trebi-Ollennu, A Das, H Joshi, S Aghazarian, H Ganino, AJ Kennedy, BA Garrett, MS CALTECH Jet Prop Lab Pasadena CA 91109 USA

ISBN: (纸本)0819438618

We report on the development of cooperating multiple robots. This work builds from our earlier research on autonomous planetary revers and robot arms. Here, we seek to closely coordinate the mobility and manipulation of multiple robots to perform site construction operations-as an example, the autonomous deployment of a planetary power station-a task viewed as essential to a sustained robotic presence and human habitation on Mars. There are numerous technical challenges;these include the mobile handling of extended objects, as well as cooperative transport/navigation of such objects over natural, unpredictable terrain. We describe an extensible system concept, related simulations, a hardware implementation, and preliminary experimental results. In support of this work we have developed an enabling hybrid control architecture wherein multi-robot mobility and sensor-based controls are derived as group compositions and coordination of more basic behaviors under a task-level multi-agent planner. We summarize this control Architecture for Multi-robot Planetary Outposts (CAMPOUT), and its application to physical experiments where two revers carry an extended payload over natural terrain.

关键词： mobile robots cooperating robots robot control architecture sensor fusion intelligent control Mars exploration Mars rovers robot outposts field robotics mobile manipulation robotic navigation SRR (Sample Return Rover)

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Action selection within the context of a robotic colony

Action selection within the context of a robotic colony

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sensor fusion and decentralized control in robotic systems II Conference

作者： Huntsberger, T Mataric, M Pirjanian, P CALTECH Jet Prop Lab Sci & Technol Dev Sect Pasadena CA 91109 USA

ISBN: (纸本)0819434329

Preparation of planetary surface sites prior to a manned mission can be accomplished through the use of a robotic colony. The tasks of such a colony would include habitat deployment, setup of in-situ fuel and oxygen production plants, and beaconed road placement. The colony will have to possess a great deal of autonomy for this ambitious list. BISMARC (Biologically Inspired System for Map-based autonomous Rover control) is a behavior based system for the control of multiple rovers on planetary surfaces. During the past few years the system has performed well in multiple cache retrieval simulations, and a certain degree of fault tolerance has been included in the design. In this paper we address the extensions to BISMARC that would be necessary for a robotic colony application. These extensions include a wider array of behaviors, better communication and mapping capabilities, and fault tolerance shared by the colony. The results of some simulations for habitat site preparation are reported.

关键词： robotic colonies planetary revers behavior-based control

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