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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61-70 订阅

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Reciprocal excitation between biological and robotic research

Reciprocal excitation between biological and robotic researc...

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conference on sensor fusion and decentralized control in robotic systems iiI

作者： Schaal, S Sternad, D Dean, W Kotosaka, S Osu, R Kawato, M Univ So Calif Los Angeles CA 90089 USA

ISBN: (纸本)0819438618

While biological principles have inspired researchers in computational and engineering research for a long time, there is still rather limited knowledge flow back from computational to biological domains. This paper presents examples of our work where research on anthropomorphic robots lead us to new insights into explaining biological movement phenomena, starting from behavioral studies up to brain imaging studies. Our research over the past years has focused on principles of trajectory formation with nonlinear dynamical systems, on learning internal models for nonlinear control, and on advanced topics like imitation learning. The formal and empirical analyses of the kinematics and dynamics of movements systems and the tasks that they need to perform lead us to suggest principles of motor control that later on we found surprisingly related to human behavior and even brain activity.

关键词： Robots Kinematics robotics Dynamical systems Brain Biological research control systems Differential equations systems modeling Complex systems

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Self-development of visual space perception by learning from the hand

Self-development of visual space perception by learning from...

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conference on sensor fusion amd decentralized control in robotic systems

作者： Chung, JM Ohnishi, N RIKEN Inst Phys & Chem Res Biomimet Control Res Ctr Moriyama Ku Nagoya Aichi 463 Japan

ISBN: (纸本)0819429848

Animals have been considered to develope ability for interpreting images captured on their retina by themselves gradually from their birth. For this they do not need external supervisor. We think that the visual function is obtained together with the development of hand reaching and grasping operations which are executed by active interaction with environment. On the viewpoint of hand teaches eye, this paper shows how visual space perception is developed in a simulated robot. The robot has simplified human-like structure used for hand-eye coordination. From the experimental results it may be possible to validate the method to describe how visual space perception of biological systems is developed. In addition the description gives a way to self-calibrate the vision of intelligent robot based on learn by doing manner without external supervision.

关键词： self-developing robot visual space perception absolute size perception size constancy stereo eye motion learning from the hand reaching grasping

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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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Development of CAMPOUT and its further applications to planetary rover operations: a multi-robot control architecture

Development of CAMPOUT and its further applications to plane...

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sensor fusion and decentralized control in robotic systems IV conference

作者： Pirjanian, P Huntsberger, TL Schenker, PS CALTECH Jet Prop Lab Planetary Robot Lab Pasadena CA 91109 USA

ISBN: (纸本)0819442992

In this paper, we describe an architecture for the development of autonomy software for multi-robot distributed control and collective estimation. CAMPOUT, the control Architecture for Multi-Robot Planetary OUTposts, provides communication facilities for sharing of state information across robots and it uses a behavior network for representation and execution of group activities as well as the activities of a single robot. In our research, we have shown that CAMPOUT provides a level of abstraction that enables us to develop multi-robot software in a manner much similar to what we use for single robot software development. We showcase the main architectural components by describing two multi-robot tasks for planetary construction and collective cliff-descent. For both tasks, we show how behavior networks can be used to describe group activities and how publish/subscribe and other communication mechanisms can be used to share state information across multiple robots.

关键词： control architecture multi-robot systems tight coordination planetary rover operations

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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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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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Data fusion for 3D object reconstruction

Data fusion for 3D object reconstruction

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conference on sensor fusion amd decentralized control in robotic systems

作者： Mostafa, MGH Yamany, SM Farag, AA Univ Louisville EE Dept Comp Vis & Image Proc Lab Louisville KY 40292 USA

ISBN: (纸本)0819429848

Recently multisensor data fusion has proven its necessity for computer vision and robotics applications. Three-dimensional (3D) scene reconstruction and model building have been greatly improved in systems that employ multiple sensors and/or multiple cues data fusion/integration. In this paper, we present a framework for integrating registered multiple sensory data, sparse range data from laser range finders and dense depth maps of shape from shading from intensity images, for improving the 3D reconstruction of visible surfaces of 3D objects. Two methods are used for data integration and surface reconstruction. In the first method, data are integrated using a local error propagation algorithm, which we have developed in this paper. In the second method, the integration process is carried out using a feedforward neural networks with backpropagation learning rule. It is found that the integration of sparse depth measurements has greatly enhanced the 3D visible surface obtained from shape from shading in terms of metric measurements. We also review the current research in the area of multisensor/multicue data fusion for 3D object reconstructions.

关键词： data fusion computer vision surface reconstruction surface interpolations shape from shading neural networks

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A unique sensor fusion system for coordinate measuring machine tasks

A unique sensor fusion system for coordinate measuring machi...

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conference on sensor fusion and decentralized control in Autonomous robotic systems

作者： Nashman, M Yoshimi, B Hong, TH Rippey, WG Herman, M National Institute of Standards and Technology Bldg. 220B124 Gaithersburg MD 20899 United States

ISBN: (纸本)0819426415

This paper describes a real-time hierarchical system that fuses data from vision and touch sensors to improve the performance of a coordinate measuring machine (CMM) used for dimensional inspection tasks. The system consists of sensory processing, world modeling, and task decomposition modules. It uses the strengths of each sensor-the precision of the CMM scales and the analog touch probe and the global information provided by the low resolution camera-to improve the speed and flexibility of the inspection task. In the experiment described, the vision module performs all computations in image coordinate space. The part's boundaries' are extracted during an initialization process and then the probe's position is continuously updated as it scans and measures the part surface. The system fuses the estimated probe velocity and distance to the part boundary in image coordinates with the estimated velocity and probe position provided by the CMM controller. The fused information provides feedback to the motion controller as it guides the touch probe to scan the part. We also discuss integrating information from the vision system and the probe to autonomously collect data for 2-D to 3-D calibration, and work to register Computer Aided Design (CAD) models with images of parts in the workplace.

关键词： computer aided design (CAD) calibration computer vision coordinate measuring machine (CMM) real-time control system (RCS) sensor fusion touch probe

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Decision and feature fusion over the fractal inference network using camera and range sensors

Decision and feature fusion over the fractal inference netwo...

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conference on sensor fusion amd decentralized control in robotic systems

作者： Erkmen, I Erkmen, AM Ucar, E Middle E Tech Univ Dept Elect & Elect Engn TR-06531 Ankara Turkey

ISBN: (纸本)0819429848

The objective of the ongoing work is to fuse information from uncertain environmental data taken by cameras, short range sensors including infrared and ultrasound sensors for strategic target recognition and task specific action in Mobile Robot applications. Our present goal in this paper is to demonstrate target recognition for service robot in a simple office environment. It is proposed to fuse all sensory signals obtained from multiple sensors over a fully layer-connected sensor network system that provides an equal opportunity competitive environment for sensory data where those bearing less uncertainty, less complexity and less inconsistencies with the overall goal survive, while others fade out. In our work, this task is achieved as a decision fusion using the Fractal Inference Network (FIN), where information patterns or units- modelled as textured belief functions bearing a fractal dimension due to uncertainty - propagate while being processed at the nodes of the network. Each local process of a node generates a multiresolutional feature fusion. In this model, the environment is observed by multisensors of different type, different resolution and different spatial location without a prescheduled sensing scenario in data gathering. Node activation and flow control of information over the FIN is performed by a neuro-controller, a concept that has been developed recently as an improvement over the classical Fractal Inference Network. In this paper, the mathematical closed form representation for decision fusion over the FIN is developed in a way suitable for analysis and is applied to a NOMAD mobile robot servicing an office environment.

关键词： fractal inference network multiresolutional sensor fusion belief functions evidential logical sensors textured belief networks

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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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