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检索条件"任意字段=Sensor Fusion and Decentralized Control in Autonomous Robotic Systems"

共 370 条记录，以下是41-50 订阅

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Towards a perception and sensor fusion architecture for a robotic airship

Towards a perception and sensor fusion architecture for a ro...

引用

sensor fusion and decentralized control in robotic systems IV Conference

作者： Elfes, A Carvalho, JRH Bergerman, M Bueno, SS Res Inst Appl Knowledge Proc Ulm Germany

ISBN: (纸本)0819442992

robotic unmanned aerial vehicles have an enormous potential as observation and data-gathering platforms for a wide variety of applications. This paper discusses components of a perception architecture being developed for AURORA (autonomous Unmanned Remote Monitoring robotic Airship). The AURORA project focusses on the development of the technologies required for substantially autonomous unmanned aerial vehicles, and for robotic airships in particular. We describe our approach to spatial representation, which incorporates a Markov Random Field (MRF) model used for encoding spatial inferences obtained from sensor imagery. We present a dynamic approach to target recognition that uses a cycle of hypothesis formulation, experiment planning for hypothesis validation, experiment execution, and hypothesis evaluation to confirm or reject the classification of targets into object classes. We also discuss an approach to automatic hovering and landing using visual servoing techniques and interaction matrices, and present preliminary experimental results from our work.

关键词： UAV robotic airship perception architecture Markov random field active perception stochastic sensor models visual servoing

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Adapting robot behavior to a nonstationary environment: A deeper biologically inspired model of neural processing

Adapting robot behavior to a nonstationary environment: A de...

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Conference on sensor fusion and decentralized control in robotic systems III

作者： Mobus, G Western Washington Univ Bellingham WA 98225 USA

ISBN: (纸本)0819438618

Biological inspiration admits to degrees. This paper describes a new neural processing algorithm inspired by a deeper understanding of the workings of real, biological synapses. It is shown that a multi-time domain adaptation approach to encoding causal correlation solves the destructive interference problem encountered by more commonly used learning algorithms. It is also shown how this allows an agent to adapt to nonstationary environments in which longer-term changes in the statistical properties occur and are inherently unpredictable, yet not completely lose useful prior knowledge. Finally, it is suggested that the use of causal correlation coupled with value-based learning may provide pragmatic solutions to some other classical problems in machine learning.

关键词： neural network adaptive behavior learning biological robot agent autonomous

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Dynamic multi-sensor fusion for mobile robot navigation in an indoor environment

Dynamic multi-sensor fusion for mobile robot navigation in a...

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sensor fusion and decentralized control in robotic systems IV Conference

作者： Jin, TS Lee, JM Luk, BL Tso, SK Pusan Natl Univ Dept Elect Engn Pusan South Korea

ISBN: (纸本)0819442992

In this study, as the preliminary step for developing a multi-purpose autonomous robust carrier mobile robot to transport trolleys or heavy goods and serve as robotic nursing assistant in hospital wards. The aim of this paper is to present the use of multi-sensor data fusion such as sonar, CCD camera and IR sensor for map-building mobile robot to navigate, and presents an experimental mobile robot designed to operate autonomously within both indoor and outdoor environments. Smart sensory systems are crucial for successful autonomous systems. We will give an explanation for the robot system architecture designed and implemented in this study and a short review of existing techniques, since there exist several recent thorough books and review paper on this paper. Instead we will focus on the main results with relevance to the intelligent service robot project at the Centre of Intelligent Design, Automation & Manufacturing (CIDAM). We will conclude by discussing some possible future extensions of the project. It is first dealt with the general principle of the navigation and guidance architecture, then the detailed functions recognizing environments updated, obstacle detection and motion assessment, with the first results from the simulations run.

关键词： sensor fusion mobile robot motion planning mobile robot navigation map-building

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Information-theoretic approach to decentralized control of multiple autonomous flight vehicles

Information-theoretic approach to decentralized control of m...

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sensor fusion and decentralized control in robotic systems III

作者： Grocholsky, Ben Durrant-Whyte, Hugh Gibbens, Peter Univ of Sydney New South Wales Australia

decentralized systems require no central controller or center where information is fused or commands generated. Information theoretic ideas have been previously used to develop optimal fusion algorithms for decentralized sensing and data fusion systems. The work described in this paper aims to develop equivalent algorithms for the control of decentralized systems. The methods and algorithms described center on the use of mutual information gain as a measure in choosing control actions. Two example problems are described;area coverage for purposes of surveillance and navigation, and sensor management for cuing and hand-off operations. The motivation for this work is the control of multiple unmanned air vehicles (UAVs).

关键词： decentralized control

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An Extended Kalman Filter for frequent local and infrequent global sensor data fusion

An Extended Kalman Filter for frequent local and infrequent ...

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Conference on sensor fusion and decentralized control in autonomous robotic systems

作者： Roumeliotis, SI Bekey, GA Department of Electrical Engineering Department of Computer Science Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA 90089-0781 United States

ISBN: (纸本)0819426415

In this paper we compare the performance of a dead-reckoning system for robot navigation to a system using an Extended Kalman Filter (EKF). Dead-reckoning systems are able to approximate position and orientation by feeding data (provided usually by local sensors) to the kinematic model of the vehicle. These systems are subject to many different sources of error. EKFs have the ability to combine the same information and compensate for most of these errors to yield a better estimate. Our simulation results using a simplified kinematic model of Rocky 7 (an experimental rover used in the Mars exploration program at Jet Propulsion Laboratory (JPL)) show that an improvement in performance up to 40% (position error) can be achieved. The local sensors used are: wheel encoders, steering angle potentiometer and gyroscope. Involvement of global sensor measurements can drastically increase the accuracy of the estimate. The lack of GPS or magnetic field on Mars narrows our choices for global localization. Landmarks, such as the sun can be used as natural beacons (reference point for absolute measurements). A sun sensor (SS) that measures the absolute orientation of the rover has been built by Lockheed Martin and now is part of the sensor suite of Rocky 7. The SS measurement is crucial for the estimation filter and we show that the accuracy of the estimation decreases exponentially as the frequency of the SS data fed to the EKF decreases.

关键词： robot localization sun sensor Extended Kalman Filter

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sensor-fused autonomous guidance of a mobile robot and applications to Mars Sample Return operations

Sensor-fused autonomous guidance of a mobile robot and appli...

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sensor fusion and decentralized control in robotic systems II Conference

作者： Huntsberger, TL Baumgartner, ET Aghazarian, H Cheng, Y Schenker, PS Leger, PC Iagnemma, KD Dubowsky, S CALTECH Jet Prop Lab Sci & Technol Dev Sect Pasadena CA 91109 USA

ISBN: (纸本)0819434329

Generally, there are multiple sensor suites on existing rover platforms such as NASA's Sample Return Rover (SRR) and the Field Integrated Design and Operations (FIDO) rover at JPL. Traditionally, these sensor suites have been used in isolation for such tasks as planetary surface traversal. For example, although distant obstacle information is known from the narrow FOV navigation camera (NAVCAM) suite on SRR or FIDO, it is not explicitly used at this time for augmentation of the wide FOV hazard camera (HAZCAM) information for obstacle avoidance. This paper describes the development of advanced rover navigation techniques. These techniques include an algorithm for the generation of range maps using the fusion of information from the NAVCAMs and HAZCAMs, and an algorithm for registering range maps to an a priori model-based range map for relative rover position and orientation determination. Experimental results for each of these techniques are documented in this paper.

关键词： rover navigation state estimation map registration

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Nonlinear attractor dynamics: A new approach to sensor fusion

Nonlinear attractor dynamics: A new approach to sensor fusio...

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sensor fusion and decentralized control in robotic systems II Conference

作者： Steinhage, A Ruhr Univ Bochum Inst Neuroinformat D-44801 Bochum Germany

ISBN: (纸本)0819434329

Fusing information of multiple sensors is particularly difficult if the sensor systems which provide the information have very different characteristics such as different data formats, reliabilities, signal to noise ratios, sampling rates and so on. Furthermore, the information is often provided on different levels of abstraction such as the direct sensor output in contrast to expert knowledge or a priori information. We propose a new approach to sensor fusion which accounts for these problems. The basic idea is to represent the quantity to estimate as the state variable of a nonlinear dynamical system. The sensor signals act on this dynamics by specifying attractors with limited range of influence. The dynamics relaxes into a stable state which results from the superposition of the attractors. By means of the limited attractor ranges, the dynamics automatically averages nonlinearly over corresponding sensor signals while outliers stemming from temporarily de-calibrated or erroneous sensors are discarded. Self-calibration is achieved by representing also the sensor signals as dynamical states and specifying an attractor at the position of the fused estimate. By using the unified attractor representation, abstract information can be treated in the same way as direct sensor input. Furthermore a mathematically well defined and algebraically analyzable format for dynamic sensor information on various levels of abstraction is available. We verify our concept for the example of man-machine interaction: fusing visual and odometric sensor information for the autonomous position estimation with acoustic guidance information for the target acquisition of a mobile robot.

关键词： nonlinear dynamics attractors sensor fusion mobile robot

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Fault tolerant action selection for planetary rover control

Fault tolerant action selection for planetary rover control

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Conference on sensor fusion amd decentralized control in robotic systems

作者： Huntsberger, T Univ S Carolina Dept Comp Sci Intelligent Syst Lab Columbia SC 29208 USA

ISBN: (纸本)0819429848

The ability of a small rover to operate semi-autonomously in a hazardous planetary environment was recently demonstrated by the Sojourner mission to Mars in July of 1997. Sojourner stayed within a 50 meter radius of the Pathfinder lander. Current NASA plans call for extended year-long multikilometer treks for the 2003 and 2005 missions. A greater deal of rover autonomy is required for such missions. We have recently developed a hybrid wavelet/neural network based system called BISMARC (Biologically Inspired System for Map-based autonomous Rover control), that is capable of such autonomy. Simulations reported at this meeting last year demonstrated that the system is capable of control for multiple rovers involved in a multiple cache recovery scenario. This robust behavior was obtained through the use of a free-flow hierarchy (FFH) as an action selection mechanism. This paper extends BISMARC to include fault tolerance in the sensing and mechanic rover subsystems. The results of simulation studies in a Mars environment are also reported.

关键词： autonomous rovers behavior-based control fault tolerance control hierarchies

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Modular behaviors in heterogeneous groups of mobile robots

Modular behaviors in heterogeneous groups of mobile robots

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Conference on sensor fusion and decentralized control in robotic systems III

作者： Dedeoglu, G Sukhatme, GS Univ So Calif Dept Comp Sci Robot Res Lab Los Angeles CA 90089 USA

ISBN: (纸本)0819438618

We provide an overview of the software components underlying four different tasks performed by a heterogeneous group of mobile robots. These tasks are are drawn from three domains 1. Robot Competitions (Robot Soccer and 'Find Life on Mars'), 2. Security and Surveillance (Perimeter Protection) and 3. Building Environmental Models (Multi-Robot Navigation and Mapping). Once decomposed as a set of cooperating behaviors, we show how these (seemingly unrelated) tasks lead to similar solutions as far as their modular breakdown is concerned, thereby yielding high reusability. Although our collection of robot platforms is notably diverse in terms of mechanics, sensory and computational capabilities, cross-platform migration and extension of existing behavior assemblages require minimal programming effort.

关键词： behavior-based robotics robot programming mobile robots autonomous robots modular behaviors

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Grid-based framework for sensorial data integration in mobile robots

Grid-based framework for sensorial data integration in mobil...

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Conference on sensor fusion and decentralized control in autonomous robotic systems

作者： Silva, A Menezes, P Dias, J Araujo, H Univ. de Coimbra (Portugal)

ISBN: (纸本)0819426415

This article presents a method to combine data from two sensorial modalities, a stereoscopic vision based sensor and a ring of ultrasonic sensors, in a grid based framework for obstacle detection and avoidance with mobile robots. The sensors' data is combined using Dempster-Shafer theory. This theory allows the combination of multiple sensorial data sources in a way that they are mutually enhanced and validated. A connectionist grid is used to support these operations and the environment modeling. Each grid node maps a configuration in a discrete subset of the robot's configuration space. The process used to obtain obstacle presence information from the stereoscopic setup and ultrasonic sensors is explained in detail. Detected obstacles result in sets of restricted configurations. The grid dynamic behavior allows the iterative computation of a repulsive potential field, which rises in the vicinity of the restricted configurations. As new information is collected by the sensors during the robot's motion so new configurations are marked as restrict and the potential field changes accordingly. Since this process occurs in real time, the computed potential field can he used to navigate the robot avoiding the detected obstacles. Experimental results are presented to support the used sensor models, the integration procedure and the control strategy.

关键词： obstacle detection sensor fusion mobile robot navigation

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