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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41-50 订阅

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Complementary data fusion in guidance and control of robot compliant motion

Complementary data fusion in guidance and control of robot c...

引用

Conference on sensor fusion amd decentralized control in robotic systems

作者： Xiao, D Ghosh, BK Xi, N Tarn, TJ FANUC Robot N Amer Inc Rochester MI 48309 USA

ISBN: (纸本)0819429848

This paper is devoted to the control problem of a robot manipulator for a class of constrained motions in an unknown environment. To accomplish a task int he presence of uncertainties, we propose a new guidance and control strategy based on multisensor fusion. Three different sensors robot joint encoders, a wrist force-torque sensor and a vision system are utilized for our task. First of all, a sensor-based hybrid position/force control scheme is proposed for an unknown contact surface. Secondly, a new multisensor fusion scheme is utilized to handle an uncalibrated workcell, wherein the surface on which there is a path to be followed by a robot is assumed to be unknown but visible by the vision system and the precise position and orientation of camera(s) with respect to the base frame of the robot is also assumed to be unknown. Our work is related with areas such as visual servoing, multisensor fusion and robot control for constrained motion. The main features of the proposed approach are: (i) multi-sensor fusion is used both for two disparate sensors (i.e. force-torque and visual sensors) and for complementary observed data rather than redundant ones as in traditional way;(ii) visual servoing is realized on the tangent space of the unknown surface;(iii) calibration of the camera with respect to the robot is not needed.

关键词： real-time guidance multisensor fusion hybrid control visual servoing uncalibrated environment

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Autonomous multirover system for complex planetary surface retrieval operations

Autonomous multirover system for complex planetary surface r...

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Conference on sensor fusion and decentralized control in Autonomous robotic systems

作者： Huntsberger, T Univ. of South Carolina (United States)

ISBN: (纸本)0819426415

As the complexity of the missions to planetary surfaces increases, so too does the need for autonomous operation of the rover systems. This is coupled with the power, weight and computer storage restrictions on such systems.(26) This paper presents a multirover system that is capable of cooperative planetary surface retrieval operations such as a multiple cache recovery mission to Mars. The system employs autonomous navigation, and is coupled through a low bandwidth communication channel. Wie also report the results of some experimental studies in simulated multiple cache retrieval operations in planetary environments.

关键词： cooperative rovers behavior-based control wavelets neural networks

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Agent-based control architecture for teleoperation

Agent-based control architecture for teleoperation

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Conference on sensor fusion and decentralized control in Autonomous robotic systems

作者： Brooks, B McKee, GT Univ. of Reading (United Kingdom)

ISBN: (纸本)0819426415

In this paper we propose a model for agent-based control within teleoperation environments. We illustrate their role in providing automated assistance for task viewing. The paper reviews existing approaches to viewing support, which tend to focus on augmented displays. We outline our approach to providing viewing support, based on ''visual acts''. agent-based architectures are reviewed and their application to viewing support under the visual acts model is presented. Communication is a key requirement for agent architectures. We present a system, channels, which we are currently developing to support the implementation of the agent model.

关键词： teleoperation visual acts multi-agent systems

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Symmetry breaking as a model for emergent structure of heterogeneous networked robotic agents

Symmetry breaking as a model for emergent structure of heter...

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Conference on sensor fusion and decentralized control in Autonomous robotic systems

作者： McKee, GT Schenker, PS Univ. of Reading (United Kingdom) Jet Propulsion Lab. (United States)

ISBN: (纸本)0819426415

This paper explores the design of robot systems to lake advantage of non-linear dynamic systems models, specifically symmetry breaking phenomena, to self-organise in response to task and environment demands. Recent research in the design of robotics systems has stressed modular, adaptable systems operating under decentralised acid distributed control architectures. Cooperative and emergent behavioural structures can be built on these modules by exploiting various forms of communication acid negotiation strategies. We focus on the design of individual modules and their cooperative interaction. We draw on nonlinear dynamic system models of human and animal behaviour to motivate issues in the design of robot modules and systems. Sonar sensing systems comprising a ring of sonar sensors are used to illustrate the Ideas within a networked robotics context, where distributed sensing modules located on multiple robots can interact cooperatively to scan an environment.

关键词： cooperative robots nonlinear dynamical systems symmetry sonar sensing

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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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3D model creation through volumetric fusion of multiple range images

3D model creation through volumetric fusion of multiple rang...

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Conference on sensor fusion and decentralized control in Autonomous robotic systems

作者： Elsner, DL Whitaker, RT Abidi, MA Univ. of Tennessee/Knoxville (United States)

ISBN: (纸本)0819426415

This paper presents a method to fuse multiple noisy range images to obtain a 3-D model of an object. This method projects each range image onto a volumetric grid that is divided into volume elements (voxels). We place a value in each voxel that represents our degree of certainty that that voxel is inside the sensed object. We determine this value by constructing a line from the voxel to the sensor's location and calculating the point that it intersects the range image. The certainty value is determined from the distance from the voxel to the range image intersection point and an estimate of the sensor's noise characteristics. The super Bayesian combination formula is used to fuse the grids created from the individual range images into an overall volumetric grid. We obtain the object model by extracting an isosurface at the value of 1/2 from the volumetric data using a variation of the marching cubes algorithm.

关键词： volumetric modeling range images sensor data fusion

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Automatic lane keeping of a vehicle based on perception net.

Automatic lane keeping of a vehicle based on perception net.

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Conference on sensor fusion and decentralized control in robotic systems III

作者： Boo, K Jung, MY Inje Univ Dept Mech Engn Kimhae Kyungnam South Korea

ISBN: (纸本)0819438618

The objective of this research is to monitor and control the vehicle motion in order to remove out the existing safety risk based upon the human-machine cooperative vehicle control. A predictive control method is proposed to control the steering wheel of the vehicle to keep the lane. Desired angle of the steering wheel to control the vehicle motion could be calculated based upon vehicle dynamics, current and estimated pose of the vehicle every sample steps. The vehicle pose and the road curvature were calculated by geometrically fusing sensor data fro*m camera image, tachometer and steering wheel encoder though the Perception Net, where not only the state variables, but also the corresponding uncertainties were propagated in forward and backward direction in such a way to satisfy the given constraint condition, maintain consistency, reduce the uncertainties, and guarantee robustness. A series of experiments was conducted to evaluate the control performance, in which a car like robot was utilized to quit unwanted safety problem. As the results, the robot was keeping very well a given lane with arbitrary shape at moderate speed.

关键词： perception net sensor fusion vehicle motion control image processing

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Information-theoretic approach to decentralized control of multiple autonomous flight vehicles

Information-theoretic approach to decentralized control of m...

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sensor fusion and decentralized control in robotic systems III

作者： Grocholsky, Ben Durrant-Whyte, Hugh Gibbens, Peter Univ of Sydney New South Wales Australia

decentralized systems require no central controller or center where information is fused or commands generated. Information theoretic ideas have been previously used to develop optimal fusion algorithms for decentralized sensing and data fusion systems. The work described in this paper aims to develop equivalent algorithms for the control of decentralized systems. The methods and algorithms described center on the use of mutual information gain as a measure in choosing control actions. Two example problems are described;area coverage for purposes of surveillance and navigation, and sensor management for cuing and hand-off operations. The motivation for this work is the control of multiple unmanned air vehicles (UAVs).

关键词： decentralized control

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Nonlinear attractor dynamics: A new approach to sensor fusion

Nonlinear attractor dynamics: A new approach to sensor fusio...

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sensor fusion and decentralized control in robotic systems II Conference

作者： Steinhage, A Ruhr Univ Bochum Inst Neuroinformat D-44801 Bochum Germany

ISBN: (纸本)0819434329

Fusing information of multiple sensors is particularly difficult if the sensor systems which provide the information have very different characteristics such as different data formats, reliabilities, signal to noise ratios, sampling rates and so on. Furthermore, the information is often provided on different levels of abstraction such as the direct sensor output in contrast to expert knowledge or a priori information. We propose a new approach to sensor fusion which accounts for these problems. The basic idea is to represent the quantity to estimate as the state variable of a nonlinear dynamical system. The sensor signals act on this dynamics by specifying attractors with limited range of influence. The dynamics relaxes into a stable state which results from the superposition of the attractors. By means of the limited attractor ranges, the dynamics automatically averages nonlinearly over corresponding sensor signals while outliers stemming from temporarily de-calibrated or erroneous sensors are discarded. Self-calibration is achieved by representing also the sensor signals as dynamical states and specifying an attractor at the position of the fused estimate. By using the unified attractor representation, abstract information can be treated in the same way as direct sensor input. Furthermore a mathematically well defined and algebraically analyzable format for dynamic sensor information on various levels of abstraction is available. We verify our concept for the example of man-machine interaction: fusing visual and odometric sensor information for the autonomous position estimation with acoustic guidance information for the target acquisition of a mobile robot.

关键词： nonlinear dynamics attractors sensor fusion mobile robot

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Development of a self-reconfigurable modular robotic system

Development of a self-reconfigurable modular robotic system

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Conference on sensor fusion and decentralized control in robotic systems III

作者： Tomita, K Murata, S Yoshida, E Kurokawa, H Kamimura, A Kokaji, S Minist Int Trade & Ind Agcy Ind Sci & Technol Mech Engn Lab Tsukuba Ibaraki 3058564 Japan

ISBN: (纸本)0819438618

We present a novel type of modular robotic system that has a capability of both autonomous shape reconfiguration and robotic motion generation. We have developed hardware modules and examined basic mechanical functions and reconfiguration. A simulation system of the modular robotic system has also been developed to design the reconfiguration sequence and motion for a cluster of the modules.

关键词： self-reconfigurable robot distributed autonomous system modular robot

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