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A Java-based decentralised tracking simulator

A Java-based decentralised tracking simulator

引用

Conference on sensor fusion and decentralized control in Autonomous robotic systems

作者： Sutcliffe, JH Nicholson, D Deaves, RH Advanced Information Processing Department Sower by Research Centre British Aerospace Filton Bristol BS12 7QW PO Box 5 United Kingdom

ISBN: (纸本)0819426415

The potential of the new language of Java is explored in the development of a decentralised target tracking simulator. Three particular features of the Java language prompted this initial investigation, namely that it is fully object-oriented, graphical user interfaces (GUIs) may be simply constructed, and it, is Internet compatible. In the context of this paper, the full power of Java's object-oriented design is harnessed to reflect the inherent modularity of decentralised tracking systems. This enables, for example, tracks with their associated information structures, and platforms with their associated tracks, to be encapsulated within advanced data structures, or classes. An easy-to-build GUI, based on Java's Abstract Windowing Toolkit (AWT), permits the end-user to rapidly configure a test scenario by selecting simulation variables from pop-up menus, such as the number of sensor platforms, the number of targets, and the type of target trajectory. Additionally, Java's Internet compatibility allows the simulation, in principle, to be accessed remotely. Development work on the Java tracking simulator is described, and illustrated in terms of pseudo-code and screen snapshots. We conclude that in terms of our long-range goal of constructing a simulator that can aid the investigation of decentralised systems under a range of world scenarios and operating conditions, Java shows considerable promise.

关键词： Java target tracking simulator decentralised data-fusion Kalman filter

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A next best view algorithm for object reconstruction

A next best view algorithm for object reconstruction

引用

Conference on sensor fusion amd decentralized control in robotic systems

作者： Wong, LM Dumont, C Abidi, MA Univ Tennessee Dept Elect Engn IRIS Lab Knoxville TN 37996 USA

ISBN: (纸本)0819429848

The goal of sensor planning in 3-D object reconstruction is to acquire enough 2-D information about an object to create a 3-D model of that object. This requires the acquisition of images from different viewpoints, the registration of each view, and the integration of all acquired information into a single model. Our focus is on the acquisition stage;we want to determine sensor poses or viewpoints that provide the next best view in an object reconstruction task. The Next Best View (NBV) is the determination of a new sensor position that reveals an optimal amount of unknown information about the object being modeled. The goal of a NBV reconstruction system is usually to model an object using the smallest number of views. Our approach to complete this task is to study a volumetric representation of the model after a new view is obtained. Since the volumetric model consists of known and unknown information, we want to find the viewpoint from which the largest amount of unknown data can be acquired. The NBV algorithm is integrated into a system that acquires synthetic range data from a computer object model, calculates new viewpoints according to an objective function, and reconstructs a complete volumetric model of the object of interest. The NBV algorithm is described in depth and experimental results are given. Also included is a review of related work.

关键词： next best view sensor planning 3-D reconstruction

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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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Real time distributed map building in large environments

Real time distributed map building in large environments

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Conference on sensor fusion and decentralized control in robotic systems III

作者： Julier, SJ Uhlmann, JK Naval Research Lab. (United States) Univ. of Missouri/Columbia (United States)

ISBN: (纸本)0819438618

Many of the future missions for mobile robots demand multi-robot systems which are capable of operating in large environments for long periods of time. One of the most critical capabilities is the ability to localize - a mobile robot must be able to estimate its own position and to consistently transmit this information to other robots and control sites. Although state-of-the-art GPS is capable of yielding unmatched performance over large areas, it is not applicable 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. However, most approaches are non-scalable (the storage and computational costs vary quadratically and cubically with the number of beacons in the map) and can only be used with multiple robotic vehicles with a great degree of difficulty. In this paper, we describe the development of a scalable, multiple-vehicle SLAM system. This system, based on the Covariance Intersection algorithm, is scalable - its storage and computational costs are linearly proportional to the number of beacons in the map. Furthermore, it is scalable to multiple robots - each has complete freedom to exchange partial or full map information with any other robot at any other time step. We demonstrate the real-time performance of this system in a scenario of 15,000 beacons.

关键词： Robots Mobile robots sensors Algorithm development Process modeling Data fusion Filtering (signal processing) robotics Computing systems robotic systems

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Virtual reality hardware for use in interactive 3D data fusion and visualization

Virtual reality hardware for use in interactive 3D data fusi...

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Conference on sensor fusion and decentralized control in Autonomous robotic systems

作者： Gourley, CS Abidi, MA Univ. of Tennessee/Knoxville (United States)

ISBN: (纸本)0819426415

Virtual Reality has become a tool for use in many areas of research. We have designed and built a VR system for use in range data fusion and visualization. One major VR tool is the CAVE. This is the ultimate visualization tool, but comes with a large price tag. Our design uses a unique CAVE whose graphics are powered by a desktop computer instead of a larger rack machine making it much less costly. The system consists of a screen eight feet tall by twenty-seven feet wide giving a variable field-of-view currently set at 160 degrees. A Silicon Graphics Indigo2 MaxImpact with the Impact Channel Option is used for display. This gives the capability to drive three projectors at a resolution of 640x480 for use in displaying the virtual environment and one 640x480 display for a user control interface. This machine is also the first desktop package which has built-in hardware texture mapping. This feature allows us to quickly fuse the range and intensity data and other multi-sensory data. The final goal is a complete 3D texture mapped model of the environment. A dataglove, magnetic tracker, and spaceball are to be used for manipulation of the data and navigation through the virtual environment. This system gives several users the ability to interactively create 3D models from multiple range images.

关键词： virtual reality laser range scanner CAVE visualization

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Bionic robot arm with compliant actuators

Bionic robot arm with compliant actuators

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sensor fusion and decentralized control in robotic systems III

作者： Moehl, Bernhard Universitaet des Saarlandes Saarbruecken Germany

Traditional robotics uses non-compliant materials for all components involved in the production of movement. Elasticity is avoided as far as possible, because it leads to hazardous oszillations and makes control of precise movements very difficult. Due to this deliberate stiffness, robots are typically heavy and clumsy structures in comparison to their living counterparts (i.e. man and animals). Yet, moving systems in nature cope not only with the difficulties introduced by compliant materials, they also take advantage of the elasticity in muscles and tendons to produce smooth and even rapid movements. It is understood, that elasticity in a multi-jointed moving system requires sophisticated control mechanisms - as provided by a nervous system or a suitably programmed computer. In this contribution I shall describe a two-jointed robot with purpose-built elasticity in its actuators. This is accomplished by spiral springs placed in series with a conventional electric motor and a tendon to the arm. It is shown that, with sufficiently, soft elasticity, oscillations can be avoided by active oscillation damping. (Such active oscillation damping presumably also governs movement control in man and animals.) Furthermore, once the major problem has been overcome, elasticity is found to offer a wide spectrum of valuable advantages, as far as the most serious problems in traditional robotics are concerned. They are summarized by terms such as, `less dangerous', `position tolerant', `lightweight construction', `controlled forces' and, `ballistic movements'. These will be explained in detail and presented for discussions.

关键词： robotic arms

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Resource-based action planning for multi-agent systems

Resource-based action planning for multi-agent systems

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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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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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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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