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sensor fusion and decentralized coutral in robotic systems IV

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

引用

sensor fusion and decentralized control in robotic systems IV

The proceedings contains 24 papers from the conference on sensor fusion and decentralized control in robotic systems IV. The topics discussed include: delayed and asequent data in decentralized sensing networks;rover localization results for the FIDO rover;performance of a distributed robotic system using shared communications channels;people tracking using omnidirectional vision and range information;development of PetRo: a modular robot for petlike applications;integrated virtual space control system utilizing hand gesture for intelligent house.

关键词： sensor data fusion

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Explaining finite state machine characteristics using variable structure control

Explaining finite state machine characteristics using variab...

引用

Conference on sensor fusion and decentralized control in Autonomous robotic systems

作者： Feddema, JT Robinett, RD Driessen, BJ Sandia National Labs. (United States)

ISBN: (纸本)0819426415

This paper describes how variable structure control can be used to describe the overall behavior of multiple autonomous robotic vehicles with simple finite state machine rules. The importance of this result is that we can then begin to design provably asymptotically stable group behaviors from a set of simple control laws and appropriate switching points with variable structure control. The ability to prove convergence to a god is especially important for applications such as locating military targets or land mines.

关键词： finite state machine cooperative behavior robotics variable structure control sliding mode control

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Underwater robot society doing internal inspection and leak monitoring of water systems

Underwater robot society doing internal inspection and leak ...

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Conference on sensor fusion and decentralized control in Autonomous robotic systems

作者： Halme, A Vainio, M Appelqvist, P Jakubik, P Schonberg, T Visala, A Helsinki Univ. of Technology (Finland)

ISBN: (纸本)0819426415

In the field of civil engineering an effective infernal monitoring of pipes and water storage is very problematic. Normally the sensors used for the task are either fixed or manually movable. Thus they will only provide locally and temporally restricted information. As a solution an underwater robotic sensor/actuator society is presented. The system is capable of operating inside a fluid environment as a kind of distributed sensory system. The value of the system emerges from the interactions between the members. Through a communication system the society fuses information from individual members and provides a more reliable estimate of the conditions inside water systems. Test results in a transparent demo process consisting of tanks and pipes with a volume of 700 liters are presented.

关键词： underwater robot society leak detection data fusion

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Self-calibration of eye-hand coordination system with decentralized data fusion

Self-calibration of eye-hand coordination system with decent...

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Conference on sensor fusion and decentralized control in Autonomous robotic systems

作者： Lee, S Ro, S Schenker, P Univ. of Southern Californai and Jet Propulsion Lab. (United States) Univ. of Southern California (United States) Jet Propulsion Lab. (United States)

ISBN: (纸本)0819426415

A method of automatically reducing uncertainties and calibrating possible biases involved in sensed data and extracted features by a system based on the geometric data fusion is presented. The perception net, as a structural representation of the sensing capabilities of a system, connects features of various levels of abstraction, referred to here as logical sensors, with their functional relationships such as feature transformations, data fusions, and constraints to be satisfied. The net maintains the consistency of logical sensors based on the forward propagation of uncertainties as well as the backward propagation of constraint errors. A novel geometric data fusion algorithm is presented as a unified framework for computing forward and backward propagations through which the net achieves the self-reduction of uncertainties and self-calibration of biases. The effectiveness of the proposed method is validated through simulation.

关键词： perception net intelligent robotic architecture eye-hand system decentralized data fusion self-calibration goal-oriented behaviors planetary sampling

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Building a million beacon map

Building a million beacon map

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sensor fusion and decentralized control in robotic systems IV Conference

作者： Julier, SJ Uhlmann, JK IDAK Ind Jefferson City MO 65109 USA

ISBN: (纸本)0819442992

Many future missions for mobile robots demand multi-robot systems which are capable of operating in large environments for long periods of time. A critical capability is that each robot must be able to localise itself. However, GPS cannot be used in many environments (such as within city streets, under water, indoors, beneath foliage or extra-terrestrial robotic missions) where mobile robots are likely to become commonplace. A widely researched alternative is Simultaneous Localization and Map Building (SLAM): the vehicle constructs a map and, concurrently, estimates its own position. In this paper we consider the problem of building and maintaining an extremely large map (of one million beacons). We describe a fully distributed, highly scaleable SLAM algorithm which is based on distributed data fusion systems. A central map is maintained in global coordinates using the Split Covariance Intersection (SCI) algorithm. Relative and local maps are run independently of the central map and their estimates are periodically fused with the central map.

关键词： Filtering (signal processing) Mobile robots Data fusion Algorithm development Process modeling robotic systems sensors Distributed computing Global Positioning System robotics

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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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Babybot: a biologically inspired developing robotic agent

Babybot: a biologically inspired developing robotic agent

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Conference on sensor fusion and decentralized control in robotic systems iii

作者： Metta, G Panerai, F Sandini, G Univ Genoa DIST LIRA Lab Genoa Italy

ISBN: (纸本)0819438618

The study of development either artificial or biological, can highlight the mechanisms underlying learning and adaptive behavior. We shall argue whether developmental studies might provide a different and potentially interesting perspective either on how to build an artificial adaptive agent, or on understanding how the brain solves sensory, motor, and cognitive tasks. It is our opinion that the acquisition of the proper behavior might indeed be facilitated because within an ecological context, the agent, its adaptive structure and the environment dynamically interact thus constraining the otherwise difficult "learning problem". In very general terms we shall describe the proposed approach and supporting biological related facts. In order to further analyze these aspects from the modeling point of view, we shall demonstrate how a twelve degrees of freedom "baby" humanoid robot acquires orienting and reaching behaviors, and what advantages the proposed framework might offer. In particular, the experimental setup consists of a five degrees-of-freedom (dof) robot head, and an off-the-shelf six dof robot manipulator, both mounted on a rotating base: i.e. the torso. From the sensory point of view, the robot is equipped with two space-variant cameras, an inertial sensor simulating the vestibular system, and proprioceptive information through motor encoders. The biological parallel is exploited at many implementation levels. It is worth mentioning, for example, the space-variant eyes, exploiting foveal and peripheral vision in a single arrangement, the inertial sensor providing efficient image stabilization (vestibulo-ocular reflex).

关键词： biomimetic robotics learning development sensori-motor coordination

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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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Comparison of state and information based sensor fusion

Comparison of state and information based sensor fusion

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Conference on sensor fusion amd decentralized control in robotic systems

作者： Mutambara, AGO FAMU FSU Coll Engn Dept Mech Engn Tallahassee FL 32301 USA

ISBN: (纸本)0819429848

In this paper, state and information space estimation methods used in both linear and nonlinear systems are compared. General recursive estimation and in particular the Kalman filter is discussed and a Bayesian approach to probabilistic information fusion is outlined. The notion and measures of information are defined. This leads to the derivation of the algebraic equivalent of the Kalman filter, the linear information filter. The characteristics of this filter and the advantages of information space estimation are discussed. Examples are then implemented in software to illustrate the algebraic equivalence of the Kalman and Information filters. The benefits of information space are also explored in these case studies. State estimation for systems with nonlinearities is considered and the extended Kalman filter treated. Linear information space is then extended to nonlinear information space by deriving the extended information filter. This establishes all the necessary mathematical tools required for exhaustive information space estimation. The advantages of the extended information filter over the extended Kalman filter are presented and demonstrated. This extended information filter constitute an original and significant contribution to estimation theory made in this paper. Examples of systems involving both nonlinear state evolution and nonlinear observations are simulated. Thus, the algebraic equivalence of the two filters is illustrated and the benefits of nonlinear information space manifested.

关键词： estimation information filter nonlinear data fusion decentralized multisensor

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Neural sensor fusion for spatial visualization on a mobile robot

Neural sensor fusion for spatial visualization on a mobile r...

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Conference on sensor fusion amd decentralized control in robotic systems

作者： Martens, S Carpenter, GA Gaudiano, P Boston Univ Dept Cognit & Neural Syst Boston MA 02215 USA

ISBN: (纸本)0819429848

An ARTMAP neural network is used to integrate visual information and ultrasonic sensory information on a B14 mobile robot. Training samples for the neural network are acquired without human intervention. sensory snapshots are retrospectively associated with the distance to the wall, provided by on-board odometry as the robot travels in a straight line. The goal is to produce a more accurate measure of distance than is provided by the raw sensors. The neural network effectively combines sensory sources both within and between modalities. The improved distance percept is used to produce occupancy grid visualizations of the robot's environment. The maps produced point to specific problems of raw sensory information processing and demonstrate the benefits of using a neural network system for sensor fusion.

关键词： mobile robot neural network sensor fusion occupancy grid sonar range

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