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

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Solutions for 3-D self-reconfiguration in a modular robotic system:: implementation and motion planning

Solutions for 3-D self-reconfiguration in a modular robotic ...

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conference on sensor fusion and decentralized control in robotic systems iiI

作者： Ünsal, C Khosla, PK Carnegie Mellon Univ Inst Complex Engineered Syst Pittsburgh PA 15213 USA

ISBN: (纸本)0819438618

In this manuscript, we discuss new solutions for mechanical design and motion planning for a class of three-dimensional modular self-reconfigurable robotic system, namely I-Cubes. This system is a bipartite collection of active links that provide motions for self-reconfiguration, and cubes acting as connection points. The links are three degree of freedom manipulators that can attach to and detach from the cube faces. The cubes can be positioned and oriented using the links. These capabilities enable the system to change its shape and perform locomotion tasks over difficult terrain. This paper describes the scaled down version of the system previously described in [1] and details the new design and manufacturing approaches. Initially designed algorithms for motion planning of I-Cubes are improved to provide better results. Results of our tests are given and issues related to motion planning are discussed. The user interfaces designed for the control of the system and algorithm evaluation is also described.

关键词： self-reconfiguration modular robots reconfiguration planning mechatronics collective robotics

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CAMPOUT: A control architecture for multi-robot planetary outposts

CAMPOUT: A control architecture for multi-robot planetary ou...

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conference on sensor fusion and decentralized control in robotic systems iiI

作者： Pirjanian, P Huntsberger, TL Trebi-Ollennu, A Aghazarian, H Das, H Joshi, SS Schenker, PS CALTECH Jet Prop Lab Pasadena CA 91109 USA

ISBN: (纸本)0819438618

A manned Mars habitat will require a significant amount of infrastructure that can be deployed using robotic precursor missions. This infrastructure deployment will probably include the use of multiple, heterogeneous, mobile robotic platforms. Delays due to the long communication path to Mars limit the amount of teleoperation that is possible. A control architecture called CAMPOUT (control Architecture for Multirobot Planetary Outposts) is currently under development at the Jet Propulsion Lab in Pasadena, CA. It is a three layer behavior-based system that incorporates the low level control routines currently used on the JPL SRR/FIDO/LEMUR revers. The middle behavior layer uses either the BISMARC (Biologically Inspired System for Map based Autonomous Rover control) or MOBC (Multi-Objective Behavior control) action selection mechanisms. CAMPOUT includes the necessary group behaviors and communication mechanisms for coordinated/cooperative control of heterogeneous robotic platforms. We report the results of some ongoing work at the Jet Propulsion Lab in Pasadena, CA on the transport phase of a photovoltaic (PV) tent deployment mission.

关键词： behavior-based control multiple mobile robots robot outposts

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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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Towards optimal sensor morphology for specific tasks: Evolution of an artificial compound eye for estimating time to contact

Towards optimal sensor morphology for specific tasks: Evolut...

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conference on sensor fusion and decentralized control in robotic systems iiI

作者： Lichtensteiger, L Univ Zurich Dept Comp Sci Artificial Intelligence Lab CH-8057 Zurich Switzerland

ISBN: (纸本)0819438618

For a systematic investigation of the interdependence between an agent's morphology and its task environment we constructed a system that is able to automatically generate optimal sensor morphologies for given tasks. The system consists of a robot with an artificial compound eye where the angular positions of the individual facets can be autonomously modified. This paper describes experiments on using artificial evolution to optimise the compound eye morphology for the task of estimating time to contact with obstacles. The resulting morphologies are in goad agreement with the theoretically predicted optimal sensor density distribution for this task. By comparing our results with earlier experiments we find that our robot is able to evolve different optimal morphologies depending on the task required. Since the accuracy of our system proved to be good enough to easily distinguish qualitatively different optimal sensor morphologies we hope that also for more complex task environments it will allow us to identify the optimal sensor distribution with good precision.

关键词： adaptive hardware morphology artificial compound eye artificial evolution autonomous agents

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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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Towards a perception and sensor fusion architecture for a robotic airship

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

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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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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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A framework for implementing self-organising task-oriented multi-sensor networks

A framework for implementing self-organising task-oriented m...

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conference on sensor fusion amd decentralized control in robotic systems

作者： Scheering, C Knoll, A Univ Bielefeld Fac Technol D-33501 Bielefeld Germany

ISBN: (纸本)0819429848

Advanced manipulation skills that enable cooperating robots in a work cell to recognise, handle and assemble arbitrarily placed objects require sensory information on both the environment and assembly process. Using standard approaches it becomes difficult to coordinate sensor usage and data fusion under a given task when the number of sensors becomes large or is changed during run-time. We present a solution to both coordination and fusion based on the multi (sensor) agent paradigm: each agent implements a sensory skill, a negotiation protocol and a physical communication interface to all other agents. Within this sensor-network teams cooperate on a common task. They are formed dynamically after a negotiation phase following a specific task formulation. Our framework consists of a formal specification of the requirements that the sensory skill of an agent has to meet and a comprehensive library of (C++)-objects encapsulating all of the negotiation protocol and communications. This separation makes it very easy to implement individual sensory skills. We show how the abstract concepts of this approach and the metaphor of "negotiation" work in a real-world network: several uncalibrated cameras are used to guide a manipulator towards a target. We also show how agent-teams may easily (self-)reconfigure during task execution in the case of unexpected events. The framework is distributed free of charge and can be obtained over the Internet at http://***.

关键词： multi-sensor network distributed sensing sensor-fusion multi-agents uncalibrated visual servoing contract net

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Nonholonomic camera space manipulation using cameras mounted on a mobile base

Nonholonomic camera space manipulation using cameras mounted...

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conference on sensor fusion amd decentralized control in robotic systems

作者： Goodwine, B Seelinger, M Skaar, SB Ma, Q Univ Notre Dame Notre Dame IN 46556 USA

ISBN: (纸本)0819429848

The body of work called "Camera Space Manipulation" is an effective and proven method of robotic control. Essentially, this technique identifies and refines the input-output relationship of the plant using estimation methods and drives the plant open-loop to its target state. Three-dimensional "success" of the desired motion, i.e., the end effector of the manipulator engages a target at a particular location with a particular orientation, is guaranteed when theres is camera space success in two cameras which are adequately separated. Very accurate, sub-pixel positioning of a robotic end effector is possible using this method. To date, however, most efforts in this area have primarily considered holonomic systems. This work addresses the problem of nonholonomic camera space manipulation by considering the problem of a nonholonomic robot with two cameras and a holonomic manipulator on board the nonholonomic platform. While perhaps not as common in robotics, such a combination of holonomic and nonholonomic degrees of freedom are ubiquitous in industry: fork lifts and earth moving equipment are common examples of a nonholonomic system with an on-board holonomic actuator. The nonholonomic nature of the system makes the automation problem more difficult due to a variety of reasons;in particular, the target location is not fixed in the image planes, as it is for holonomic systems (since the cameras are attached to a moving platform), and there is a fundamental "path dependent" nature of nonholonomic kinematics. This work focuses on the sensor space or camera-space-based control laws necessary for effectively implementing an autonomous system of this type.

关键词： camera space manipulation robotic vision

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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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