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

共 115 条记录，以下是1-10 订阅

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sensor fusion and decentralized control in robotic systems ii : 19-20 September, 1999, Boston, Massachusetts / Gerard T. Mckee, Paul S. Schenker, chairs/editors;sponsored and published by SPIE--the

Sensor fusion and decentralized control in robotic systems I...

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1999年

作者： Gerard T. Mckee Paul S. Schenker chairs/editors sponsored and published by SPIE--the International Society for Optical Engineering.

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Wave control: A method of distributed control for repeated unit tentacles

Wave control: A method of distributed control for repeated u...

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sensor fusion and decentralized control in robotic systems ii conference

作者： Rudakevych, P IS Robotics Inc. (United States)

ISBN: (纸本)0819434329

A method is presented for distributed position control of the tip of a high degree of freedom tentacle. The scheme employs limited communications which occurs only between adjacent degrees of freedom. Total computational requirements for the tentacle are linear with the number of degrees of freedom and are distributed as identical processes at joint. An iterative approach to position control allows automatic path planning around obstacles to occur. The resulting system allows complex tasks to be performed with limited computation and sensing resources. The algorithm was used as a basis for locomotion for a mobile robot with four tentacles.

关键词： tentacle distributed control high degree of freedom

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Behavioral diversity as multiagent cooperation

Behavioral diversity as multiagent cooperation

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sensor fusion and decentralized control in robotic systems ii conference

作者： Balch, T Carnegie Mellon Univ Pittsburgh PA 15213 USA

ISBN: (纸本)0819434329

In many cases cooperation between robots is implemented using explicit, perhaps complex, coordination protocols. However, research in behavior-based multirobot systems suggests that effective cooperative teams can be composed of agents using simple individual agent behaviors with limited or no communication. In this paper we propose behavioral diversity as an alternative cooperative strategy. Behavioral diversity refers to the extent to which agents assume distinct behavioral roles in a group. By filling diverse roles the team members distribute responsibility for various components of the task. It is not always the case, however, that diversity is advantageous. Results of experiments in robotic soccer and multirobot foraging tasks indicate that the utility of diversity depends on the task. This paper describes behaviorally diverse solutions to these tasks and provides a comparison that suggests why some tasks are suited for behavioral diversity and others are not.

关键词： multiagent robotic systems cooperation diversity

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Navigation and control of blind-robots in sensorized environments

Navigation and control of blind-robots in sensorized environ...

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conference on sensor fusion amd decentralized control in robotic systems

作者： Trivedi, MM Roche, S Capella, R Univ Calif San Diego Dept Elect & Comp Engn Comp Vis & Robot Res Lab La Jolla CA 92093 USA

ISBN: (纸本)0819429848

In this paper we discuss a new approach for developing useful robotic systems. The main idea is to simplify the robotic systems by eliminating the sensory and control hardware from the robotic platform. Such "sensor-less" systems have significant advantages over the more traditional "sensor-driven" systems. The paper demonstrates the efficacy of this new approach for autonomous navigation of roving robots that require no onboard sensing or control.

关键词： Robots sensors robotic systems Cameras control systems robotics Vehicle control Environmental sensing Neural networks Reliability

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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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Fully connected decentralized estimation

Fully connected decentralized estimation

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conference on sensor fusion and decentralized control in Autonomous robotic systems

作者： Mutambara, AGO Florida State Univ. (United States)

ISBN: (纸本)0819426415

This paper addresses the multisensor estimation problem for both linear and nonlinear systems in a fully connected decentralized sensing architecture. The sensor data fusion problem is identified and the case for decentralized arhitectures, rather than hierarchical or centralized ones, is made. Fully connected decentralized estimation algorithms in both state and information spaces are then developed. The intent is to show that decentralized estimation is feasible and to demonstrate the advantages of information space over state space. The decentralization procedure is then repeated for the extended Kalman filter and extended information filter to produce decentralized filters for nonlinear systems. The four filters are compared and contrasted. In appraising the algorithms the problems associated with the requirement for a fully connected topology are identified.

关键词： estimation information filter decentralized multisensor data fusion

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Large-scale concurrent mapping and localization

Large-scale concurrent mapping and localization

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conference on sensor fusion and decentralized control in robotic systems iiI

作者： Leonard, JJ MIT Dept Ocean Engn Cambridge MA 02139 USA

ISBN: (纸本)0819438618

The goal of concurrent mapping and localization (CML) is to enable a mobile robot to build a map of an unknown environment, while simultaneously using this map to navigate. This paper discusses some of the challenges that are encountered in the development of practical real-time implementations of CML for one or more autonomous mobile robots operating in large-scale environments.

关键词： Stochastic processes Mobile robots Associative arrays Data fusion sensors Environmental sensing robotics Error analysis robotic systems Navigation systems

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Consequences of module combination in a modular robotics system

Consequences of module combination in a modular robotics sys...

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sensor fusion and decentralized control in robotic systems ii conference

作者： Fryer, JA McKee, GT Univ Reading Act Robot Grp Dept Comp Sci Reading RG6 6AY Berks England

ISBN: (纸本)0819434329

Modular robotics considers robots to be composed of distinct functional modules, which may be combined to perform tasks. Module combination allows functionality to be tailored to a task, but has a number of requirements. The notion of a 'module' must be clearly defined, and functionality specified in an unambiguous manner. The nature of the combination must be defined according to specific relationships between modules, and the consequences arising from combination - for modules and for the robot as a whole - need to be considered. The MARS model has been developed to allow reasoning about module combination, in terms of the ways in which modules may be combined, and the consequences that may arise from that combination. This paper defines a set of consequences which may arise during module combination.

关键词： modular robotics systems module combination

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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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