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conference on sensor fusion amd decentralized control in robotic systems

作者： Freund, E Hoffmann, K Rossmann, J Univ Dortmund Inst Robot Res D-44227 Dortmund Germany

ISBN: (纸本)0819429848

With the use of multi-robot-systems new chances and perspectives are revealed for industrial, space- and underwater-applications. At the IRF, a versatile multi-robot-control, which fully exploits the inherent flexibility of a multi-robot-system, has been developed. In order to guarantee optimized system-throughput and increased autonomy, the system builds on a new resource-based action planning approach to coordinate the different robot manipulators and other automation components in the workcell. An important issue of the realized action planning component to be applicable to real world problems is that it is realized as an integral part of the hierarchical multi-robot control structure IRCS (Intelligent Robot control System). The IRCS is the multi-robot control that was chosen by the German Space Agency (DLR) for major space automation projects. In this structure the resource-based action planning component is tightly integrated with components for coordinated task execution and collision avoidance to guarantee save operation of all agents in the multi-robot system. As the action planning component "understands" task descriptions on a high level of abstraction it is also the perfect counterpart for a Projective Virtual Reality (VR) system. The paper will describe the mechanism of resource based action planning, the practical experiences gained from the implementation for the IRCS as well as its services to support VR-based man machine interfaces.

关键词： resource-based action planning action pattern net multistage action planning online model expansion intelligent multi-robot-control exploitation of flexibility virtual reality user friendliness increased autonomy and safety

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Integrating sensorimotor systems in a robot model of cricket behavior

Integrating sensorimotor systems in a robot model of cricket...

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conference on sensor fusion and decentralized control in robotic systems iiI

作者： Webb, B Harrison, RR Univ Stirling Dept Psychol Ctr Cognit & Computat Neurosci Stirling FK9 4LA Scotland

ISBN: (纸本)0819438618

The mechanisms by which animals manage sensorimotor integration and coordination of different behaviors can be investigated in robot models. In previous work the first author has built a robot that localizes sound based on close modeling of the auditory and neural system in the cricket. It is known that the cricket combines its response to sound with other sensorimotor activities such as an optomotor reflex and reactions to mechanical stimulation of the antennae and cerci. Behavioral evidence suggests some ways these behaviors may be integrated. We have tested the addition of an optomotor response, using an analog VLSI circuit developed by the second author, to the sound localizing behavior and have shown that it can, as in the cricket, improve the directness of the robot's path to sound. In particular it substantially improves behavior when the robot is subject to a motor disturbance. Our aim is to better understand how the insect brain functions in controlling complex combinations of behavior, with the hope that this will also suggest novel mechanisms for sensory integration on robots.

关键词： sound localization insect vision biorobotics sensorimotor integration

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Auto-agent: A behavior-based architecture for mobile navigation

Auto-agent: A behavior-based architecture for mobile navigat...

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conference on sensor fusion amd decentralized control in robotic systems

作者： Hwang, KS Lu, MY Natl Chung Cheng Univ Dept Elect Engn Chai Yi Taiwan

ISBN: (纸本)0819429848

The design and construction of mobile robots is as much an art as a science. Ire hardware architecture, researchers tend to construct a low-cost and reliable platform which equips with various sensory system for sensing the change of the environment to offer useful information to the navigation system. An autonomous navigation system plays a role in an mobile robot as the brain in human being, It generates action command according to those sensory data from the perception system to direct the mobile robot to go to desired positions or accomplish useful tasks without human intervention in real-world, An important problem hi autonomous navigation is the need to cope with the large amount of uncertainty that is inherent of natural environment. Therefore the development of techniques for autonomous navigation in real-world environments constitutes one uf the major trends in the current research on robotics. Inspired with the concept of software agents, reactive control and behavior-based control a modular architecture called Ante-agent, for mobile navigation is proposed, The main characteristic of Auto-agent is as following: Behavioral agents cooperate by means of communicating with other behavioral agents intermittently to achieve their local goal and the goals of the community as a whole because nea one individually has sufficient competence, resources and information to solve the entire probit nl. Auto-agent gains advantages from the characteristics of distributed system, it offers the possibility to find an acceptable solution with a reasonable time and complexity range, Besides, the modular structure iu convenient nt for an engineer to construct a new behavioral agent and to add it into Auto-agent.

关键词： behavior-based navigation system reactive control mobile robot

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A modified reactive control framework for cooperative mobile robots

A modified reactive control framework for cooperative mobile...

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conference on sensor fusion and decentralized control in Autonomous robotic systems

作者： Salido, J Dolan, JM Hampshire, J Khosla, P Robotics Institute Carnegie Mellon Univ. Pittsburgh PA 15213-3891 United States Dept. of Electrical and Computer Engineering Carnegie Mellon Univ. Pittsburgh PA 15213-3890 United States Castilla-La Mancha Univ.

ISBN: (纸本)0819426415

An important class of robotic applications potentially involves multiple, cooperating robots: security or military surveillance, rescue, mining, etc. One of the main challenges in this area is effective cooperative control: how does one determine and orchestrate individual robot behaviors which result in a desired group behavior? Cognitive (planning) approaches allow for explicit coordination between robots, but suffer from high computational demands and a need for a priori, detailed world models. Purely reactive approaches such as that of Brooks are efficient, but lack a mechanism for global control and learning. Neither approach by itself provides a formalism capable of a sufficiently rapid and rich range of cooperative behaviors. Although we accept the usefulness of the reactive paradigm in building up complex behaviors from simple ones, we seek to extend and modify it in several ways. First, rather than restricting primitive behaviors to fixed input-output relationships, we include memory and learning through feedback adaptation of behaviors. Second, rather than a fixed priority of behaviors, our priorities are implicity they vary depending on environmental stimuli. Finally, we scale this modified reactive architecture to apply not only for an individual robot, but also at the level of multiple cooperating robots: at this level, individual robots are like individual behaviors which combine to achieve a desired aggregate behavior. In this paper, we describe our proposed architecture and its current implementation. The application of particular interest to us is the control of a team of mobile robots cooperating to perform area surveillance and target acquisition and tracking.

关键词： cooperative mobile robots social behavior reinforcement learning intelligence

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Distributed control and computation in a parallel modular robotic system

Distributed control and computation in a parallel modular ro...

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Proceedings of the 1999 sensor fusion and decentralized control in robotic systems ii

作者： Lee, Woo Ho Sanderson, Arthur C. Rensselaer Polytechnic Inst Troy United States

New generations of modular and reconfigurable robotic systems with many degrees of freedom can be transformed to achieve different functions, modes of manipulation, and means of mobility resulting in efficient multifunctional systems which adapt to complex environments. The design of modular distributed algorithms and architectures for control of these systems is particularly challenging since kinematic and dynamic performance must be maintained throughout a range of alternative physical reconfigurations. The `Tetrobot' is a prototype modular system using parallel, variable geometry truss-like mechanisms which can be reconfigured to create moving platforms, walking machines, manipulator arms, a pipe crawler and other devices. Modular algorithms for distributed control and dynamic redundancy resolution of these systems will be discussed, and the principles of distributed control for modular systems generalize beyond these specific mechanisms. The resulting Tetrobot system has a range of interesting applications including space robotics, construction, mining, medical, undersea, and flexible manufacturing.

关键词： Modular robots

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A vision-guided, semi-autonomous system applied to a robotic coating application

A vision-guided, semi-autonomous system applied to a robotic...

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conference on sensor fusion and decentralized control in Autonomous robotic systems

作者： Seelinger, MJ Robinson, M Dieck, Z Skaar, SB University of Notre Dame Department of Aerospace and Mechanical Engineering Fitzpatrick Hall of Engineering Notre Dame IN 46556 United States

ISBN: (纸本)0819426415

This paper describes a new semi-autonomous, calibration-free system which integrates a user-friendly graphical interface, several cameras, a laser pointer mounted on a two-axis pan/tilt unit, and a six degree-of-freedom robot. The details of the system will be discussed in reference to the problem of coating a workpiece of unknown geometry that is positioned arbitrarily with respect to the robot and the vision sensors. The remote user specifies the region of the workpiece that is to be coated simply by ''pointing'' and ''clicking'' on the region of interest as it appears in a single image on the user's computer monitor. By means of a simple and robust control strategy, the laser pointer mounted on the pan/tilt unit is autonomously actuated to a user-specified number of approximate positions in the region of the surface of interest. This is used to create compatible maneuver objectives in the participating vision sensors. Then, using the method of camera-space manipulation, the robot is controlled to make several passes across the region. Regardless of the geometry of the workpiece, the manipulated nozzle always remains perpendicular to the surface at a user-specified distance from the surface, Upon completion of the coating process, the laser pointer is again actuated to pass through a specified number of points on the :new surface. This information is used to make a very precise inference of the thickness of the build-up of the coat that has been applied. If the coat is not sufficiently thick, the robot makes more passes as required. The paper also presents experimental results of the high accuracy of position and orientation control of the manipulated tool, as well as the depth inference of the surface coat applied.

关键词： camera-space manipulation robot vision supervisory control inspection graphical user interface

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A framework for coordinating multiple robots in cooperative manipulation tasks

A framework for coordinating multiple robots in cooperative ...

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sensor fusion and decentralized control in robotic systems IV conference

作者： Chaimowiez, L Kumar, V Campos, M Univ Fed Minas Gerais DCC VERLab BR-31270010 Belo Horizonte MG Brazil

ISBN: (纸本)0819442992

In this paper, we describe a framework for coordinating multiple robots in the execution of a cooperative manipulation task. The coordination is distributed among the robots that use modular, hybrid controllers in order to execute the task. Different plans and models of the environment are built using a mix of global and local information and can be shared by the team members using wireless communication. Our framework uses models and metrics of computation, control, sensing and information in order to dynamically assign roles to the robots, and define the most suitable control hierarchy given the requirements of the task and characteristics of the robots. To test our framework, we have developed a object oriented simulator that allows the user to create different types of robots, to define different environments and to specify various types of control algorithms and communication protocols. Using the simulator, we have been able to test the execution of this task in different scenarios with different numbers of robots. We can verify the efficacy of the robot controllers, the effects of different parameters on the system performance and the ability of the robots to adapt to changes in the environment. Results from experiments with two real robots and with the simulator are used to explore the multi-robot coordination in a cooperative manipulation task.

关键词： cooperative robotics distributed control

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Ceramic Engineering and Science Proceedings: 63rd conference on Glass Problems

Ceramic Engineering and Science Proceedings: 63rd Conference...

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sensor fusion and decentralized control in robotic systems IV

This Volume 24 of the conference proceedings contains 18 papers. Topics discussed include glass forming, glass melting, recycling and glass production.

关键词： Glass

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BISMARC: a biologically inspired system for map-based autonomous rover control

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NEURAL NETWORKS 1998年第7-8期11卷 1497-1510页

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

As the complexity of the missions to planetary surfaces increases, so too does the need for autonomous rover systems. This need is complicated by the power, mass and computer storage restrictions on such systems (Miller, Proceedings SPIE conference on Cooperative Intelligent robotics in Space iiI, 1829, pp. 472-475, 1992). To address these problems, we have recently developed a system called BISMARC (Biologically Inspired System for Map-based Autonomous Rover control) for planetary missions involving multiple small, lightweight surface revers (Huntsberger, Proceedings SPIE Symposium on sensor fusion and decentralized control in Autonomous robotic systems, pp. 221-227, 1997). BISMARC is capable of cooperative planetary surface retrieval operations such as a multiple cache recovery mission to Mars. The system employs autonomous navigation techniques, behavior-based control for surface retrieval operations, and an action selection mechanism based on a modified form of free flow hierarchy (Rosenblatt and Payton, Proceedings IEEE/INNS Joint conference on Neural Networks, pp. 317-324, 1989). This paper primarily describes the navigation and map-mapping subsystems of BISMARC. They are inspired by some recent studies of London taxi drivers indicating that the right hippocampal region of the brain is activated for path planning but not for landmark identification (Maguire et al., Journal of Neuroscience, 17, 7103-7110, 1997). We also report the results of some experimental studies of simulated navigation in planetary environments. (C) 1998 Elsevier Science Ltd. All rights reserved.

关键词： robot navigation hippocampal maps wavelets neural networks

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Application of a model of instrumental conditioning to mobile robot control

Application of a model of instrumental conditioning to mobil...

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conference on sensor fusion and decentralized control in Autonomous robotic systems

作者： Saksida, LM Touretzky, DS Carnegie Mellon Univ. (United States)

ISBN: (纸本)0819426415

Instrumental conditioning is a psychological process whereby an animal learns to associate its actions with their consequences. This type of learning is exploited in animal training techniques such as ''shaping by successive approximations'', which enables trainers to gradually adjust the animal's behavior by giving strategically timed reinforcements. While this is similar in principle to reinforcement learning, the real phenomenon includes many subtle effects not considered in the machine learning literature, In addition, a good deal of domain information is utilized by an animal learning a new task;it does not start from scratch every time it learns a new behavior. For these reasons, it is not surprising that mobile robot learning algorithms have yet to approach the sophistication and robustness of animal learning. A serious attempt to model instrumental learning could prove fruitful for improving machine learning techniques. In the present paper, we develop a computational theory of shaping at a level appropriate for controlling mobile robots. The theory is based on a series of mechanisms for ''behavior editing'', in which pre-existing behaviors, either innate or previously learned, can be dramatically changed in magnitude, shifted in direction, or otherwise manipulated so as to produce new behavioral routines. We have implemented our theory on Amelia, an RWI B21 mobile robot equipped with a gripper and color video camera. We provide results from training Amelia on several tasks, all of which were constructed as variations of one innate behavior, object-pursuit.

关键词： autonomous mobile robots instrumental learning operant conditioning reinforcement learning shaping

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