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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61-70 订阅

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Dynamic sensor action selection with Bayesian decision analysis

Dynamic sensor action selection with Bayesian decision analy...

引用

Conference on sensor fusion amd decentralized control in robotic systems

作者： Kristensen, S Hansen, V Kondak, K Daimler Benz AG Res Lab Autonomous Syst Intelligent Syst Grp D-10559 Berlin Germany

ISBN: (纸本)0819429848

The aim of this work is to create a framework for the dynamic planning of sensor actions for an autonomous mobile robot. The framework uses Bayesian decision analysis, i.e., a decision-theoretic method, to evaluate possible sensor actions and selecting the most appropriate ones given the available sensors and what is currently known about the state of the world. Since sensing changes the knowledge of the system and since the current state of the robot (task, position, etc.) determines what knowledge is relevant, the evaluation and selection of sensing actions is an on-going process that effectively determines the behaviour of the robot. The framework has been implemented on a real mobile robot and has been proven to be able to central in real-time the sensor actions of the system. In current work we are investigating methods to reduce or automatically generate the necessary model information needed by the decision-theoretic method to select the appropriate sensor actions.

关键词： sensor selection action selection Bayesian decision analysis mobile robots

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Towards optimal sensor morphology for specific tasks: Evolution of an artificial compound eye for estimating time to contact

Towards optimal sensor morphology for specific tasks: Evolut...

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Conference on sensor fusion and decentralized control in robotic systems III

作者： Lichtensteiger, L Univ Zurich Dept Comp Sci Artificial Intelligence Lab CH-8057 Zurich Switzerland

ISBN: (纸本)0819438618

For a systematic investigation of the interdependence between an agent's morphology and its task environment we constructed a system that is able to automatically generate optimal sensor morphologies for given tasks. The system consists of a robot with an artificial compound eye where the angular positions of the individual facets can be autonomously modified. This paper describes experiments on using artificial evolution to optimise the compound eye morphology for the task of estimating time to contact with obstacles. The resulting morphologies are in goad agreement with the theoretically predicted optimal sensor density distribution for this task. By comparing our results with earlier experiments we find that our robot is able to evolve different optimal morphologies depending on the task required. Since the accuracy of our system proved to be good enough to easily distinguish qualitatively different optimal sensor morphologies we hope that also for more complex task environments it will allow us to identify the optimal sensor distribution with good precision.

关键词： adaptive hardware morphology artificial compound eye artificial evolution autonomous agents

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Nonholonomic camera space manipulation using cameras mounted on a mobile base

Nonholonomic camera space manipulation using cameras mounted...

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Conference on sensor fusion amd decentralized control in robotic systems

作者： Goodwine, B Seelinger, M Skaar, SB Ma, Q Univ Notre Dame Notre Dame IN 46556 USA

ISBN: (纸本)0819429848

The body of work called "Camera Space Manipulation" is an effective and proven method of robotic control. Essentially, this technique identifies and refines the input-output relationship of the plant using estimation methods and drives the plant open-loop to its target state. Three-dimensional "success" of the desired motion, i.e., the end effector of the manipulator engages a target at a particular location with a particular orientation, is guaranteed when theres is camera space success in two cameras which are adequately separated. Very accurate, sub-pixel positioning of a robotic end effector is possible using this method. To date, however, most efforts in this area have primarily considered holonomic systems. This work addresses the problem of nonholonomic camera space manipulation by considering the problem of a nonholonomic robot with two cameras and a holonomic manipulator on board the nonholonomic platform. While perhaps not as common in robotics, such a combination of holonomic and nonholonomic degrees of freedom are ubiquitous in industry: fork lifts and earth moving equipment are common examples of a nonholonomic system with an on-board holonomic actuator. The nonholonomic nature of the system makes the automation problem more difficult due to a variety of reasons;in particular, the target location is not fixed in the image planes, as it is for holonomic systems (since the cameras are attached to a moving platform), and there is a fundamental "path dependent" nature of nonholonomic kinematics. This work focuses on the sensor space or camera-space-based control laws necessary for effectively implementing an autonomous system of this type.

关键词： camera space manipulation robotic vision

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A framework for implementing self-organising task-oriented multi-sensor networks

A framework for implementing self-organising task-oriented m...

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Conference on sensor fusion amd decentralized control in robotic systems

作者： Scheering, C Knoll, A Univ Bielefeld Fac Technol D-33501 Bielefeld Germany

ISBN: (纸本)0819429848

Advanced manipulation skills that enable cooperating robots in a work cell to recognise, handle and assemble arbitrarily placed objects require sensory information on both the environment and assembly process. Using standard approaches it becomes difficult to coordinate sensor usage and data fusion under a given task when the number of sensors becomes large or is changed during run-time. We present a solution to both coordination and fusion based on the multi (sensor) agent paradigm: each agent implements a sensory skill, a negotiation protocol and a physical communication interface to all other agents. Within this sensor-network teams cooperate on a common task. They are formed dynamically after a negotiation phase following a specific task formulation. Our framework consists of a formal specification of the requirements that the sensory skill of an agent has to meet and a comprehensive library of (C++)-objects encapsulating all of the negotiation protocol and communications. This separation makes it very easy to implement individual sensory skills. We show how the abstract concepts of this approach and the metaphor of "negotiation" work in a real-world network: several uncalibrated cameras are used to guide a manipulator towards a target. We also show how agent-teams may easily (self-)reconfigure during task execution in the case of unexpected events. The framework is distributed free of charge and can be obtained over the Internet at http://***.

关键词： multi-sensor network distributed sensing sensor-fusion multi-agents uncalibrated visual servoing contract net

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Dynamic Bayes net approach to multimodal sensor fusion

Dynamic Bayes net approach to multimodal sensor fusion

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Conference on sensor fusion and decentralized control in Autonomous robotic systems

作者： Singhal, A Brown, C Univ. of Rochester (United States)

ISBN: (纸本)0819426415

Autonomous mobile robots rely on multiple sensors to perform a varied number of tasks in a, given environment. Different tasks may need different sensors to estimate different subsets of world state. Also, different sensors can cooperate in discovering common subsets of world state. This paper presents a nerv approach to multimodal sensor fusion using dynamic Bayesian networks and an occupancy grid. The environment in which the robot operates is represented with an occupancy grid, This occupancy grid is asynchronously updated using probabilistic data obtained from multiple sensors and combined using Bayesian networks. Each cell in the occupancy grid stores multiple probability density functions representing combined evidence for the identity, location and properties of objects in the world. The occupancy grid a;iso contains probabilistic representations for moving objects. Bayes nets allow information from one modality to provide cues for interpreting the output of sensors in other modalities. Establishing correlations or associations between sensor readings or interpretations leads to learning the conditional relationships between them, Thus bottoms-up, reflexive, or even accidentally-obtained information earn provide tops-down cues for other sensing strategies. We present early results obtained for a mobile robot navigation task.

关键词： dynamic Bayes nets multimodal sensor fusion mobile robot navigation occupancy grids

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Visual servo system based on a biologically-inspired scanning sensor

Visual servo system based on a biologically-inspired scannin...

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sensor fusion and decentralized control in robotic systems II Conference

作者： Viollet, S Franceschini, N CNRS Neurobiol Lab LNB3 F-13402 Marseille 20 France

ISBN: (纸本)0819434329

In the framework of our biologically inspired robotics approach, we describe a visually-guided demonstration model aircraft, the attitude of which is stabilized in yaw by means of a novel, non emissive optical sensor having a small visual field. This aircraft incorporates a miniature scanning sensor consisting of two photoreceptors with adjacent visual axes, driving a Local Motion Detector (LMD), which are made to perform a low-amplitude scanning at a varying angular speed. Under these conditions, the signal output from the motion detector varies gradually with the angular position of a contrasting object placed in its visual field, actually making the complete system a non-emissive optical "position sensor". Its output, remarkably, (i) varies quasi-linearly with the angular position of the contrasting object, and (ii) remains largely invariant with respect to the distance to the object and its degree of contrast. We built a miniature, twin-engine, twin-propeller aircraft (weight 100 grammes) equipped with this visual position sensor. After incorporating the sensor into a visuomotor feedback loop enhanced by an inertial sensor, we established that the "sighted aircraft" can fixate and track a dark edge placed in its visual field, thus opening the way for the development of visually-guided systems for controlling the attitude of micro-air vehicles, of the kind observed in insects such as hover-flies.

关键词： vision optical sensor position sensor non-emissive sensor scanning tracking visual fixation motion detection micro air vehicles attitude control

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INFORMATION-EFFICIENT DESIGN OF robotic systems

INFORMATION-EFFICIENT DESIGN OF ROBOTIC SYSTEMS

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sensor fusion CONF : control PARADIGMS AND DATA STRUCTURES

作者： MAIMON, O LAST, M Tel-Aviv Univ. (Israel) AVX Israel Ltd. (Israel)

ISBN: (纸本)0819407488

One of the main problems in constructing a supervisory robot seems to be the excess of available real-time information. The trend is to make a robot obtaining data from a lot of sensors before it takes a decision. Multiplicity of sensors increases hardware costs and control software complexity. A robot usually needs only a small part of all available information for an efficient performance. The current work will demonstrate a new approach to design of information-efficient supervisory robots. The theory combines the basic concepts of discrete event control extended to stochastic systems with some ideas of information economics. A controlled system behavior is modeled as a sequence of uncontrolled events and robot's decisions. Decisions are based on events observed by robot, and each event needs a sensor to be observed. The model provides a formal statement of the sensors selection problem. A solution procedure of the stated problem will be demonstrated, and some applications of the method to different types of robotic control will be presented.

关键词： control systems sensors Stochastic processes sensor fusion robotics systems modeling robotic systems Transition metals Manufacturing Process control

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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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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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