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

共 114 条记录，以下是21-30 订阅

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Navigation and control of blind-robots in sensorized environments

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

引用

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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Fully connected decentralized estimation

Fully connected decentralized estimation

引用

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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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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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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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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decentralized reinforcement learning control and emergence of motion patterns

Decentralized reinforcement learning control and emergence o...

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Conference on sensor fusion amd decentralized control in robotic systems

作者： Svinin, M Yamada, K Okhura, K Ueda, K Kobe Univ Dept Mech Engn Nada Ku Kobe Hyogo 6578501 Japan

ISBN: (纸本)0819429848

In this paper we propose a system for studying emergence of motion patterns in autonomous mobile robotic systems. The system implements an instance-based reinforcement learning control. Three spaces are of importance in formulation of the control scheme. They are the work space, the sensor space, and the action space. Important feature of our system is that all these spaces are assumed to be continuous. The core part of the system is a classifier system. Based on the sensory state space analysis, The control is decentralized and is specified at the lowest level of the control system. However, the local controllers are implicitly connected through the perceived environment information. Therefore, they constitute a dynamic environment with respect to each other. The proposed control scheme is tested under simulation for a mobile robot in a navigation task. It is shown that some patterns of global behavior - such as collision avoidance, wall-following, light-seeking - can emerge from the local controllers.

关键词： sensors Space sensors control systems Space robots Optical sensors Collision avoidance Light sources Mobile robots robotic systems Environmental sensing

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An open multi-agent control architecture to support virtual reality based man-machine interfaces

An open multi-agent control architecture to support virtual ...

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sensor fusion and decentralized control in robotic systems iv Conference

作者： Freund, E Rossmann, R Brasch, M Univ Dortmund Inst Robot Res D-44227 Dortmund Germany

ISBN: (纸本)0819442992

Projective Virtual Reality(2) is a new and promising approach to intuitively operable man machine interfaces for the commanding and supervision of complex automation systems. The user interface part of Projective Virtual Reality heavily builds on latest Virtual Reality techniques, a task deduction component and automatic action planning capabilities. In order to realize man machine interfaces for complex applications, not only the Virtual Reality part has to be considered but also the capabilities of the underlying robot and automation controller are of great importance. This paper presents a control architecture that has proved to be an ideal basis for the realization of complex robotic and automation systems that are controlled by Virtual Reality based man machine interfaces. The architecture does not just provide a well suited framework for the real-time control of a multi robot system but also supports Virtual Reality metaphors and augmentations which facilitate the user's job to command and supervise a complex system. The developed control architecture has already been used for a number of applications. Its capability to integrate sensor information from sensors of different levels of abstraction in real-time helps to make the realized automation system very responsive to real world changes. In this paper, the architecture will be described comprehensively, its main building blocks will be discussed and one realization that is built based on an open source real-time operating system will be presented. The software design and the features of the architecture which make it generally applicable to the distributed control of automation agents in real world applications will be explained. Furthermore its application to the commanding and control of experiments in the Columbus space laboratory, the European contribution to the International Space Station (ISS), is only one example which will be described.

关键词： Projective Virtual Reality robot controller real-time-capability distributed system International Space Station man-machine-interface

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Satisfying action selection

Satisfying action selection

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Conference on sensor fusion amd decentralized control in robotic systems

作者： Pirjanian, P Univ Aalborg Lab Image Anal DK-9220 Aalborg Denmark

ISBN: (纸本)0819429848

It is argued that for real-world applications action selection should be satisficing, i.e. merely 'good enough' rather than optimal. It is then demonstrated that multiple objective decision theory provides a suitable framework for formulating action selection mechanisms that are satisficing. A set of experiments demonstrate the potential advantages of the proposed action selection mechanisms.

关键词： action selection behavior-based control multiple objective decision making Pareto-optimality satisfying actions

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Explaining finite state machine characteristics using variable structure control

Explaining finite state machine characteristics using variab...

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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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