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BISMARC: a biologically inspired system for map-based autonomous rover control

NEURAL NETWORKS 1998年第7-8期11卷 1497-1510页

作者： Huntsberger, T Rose, J Univ S Carolina Dept Comp Sci Intelligent Syst Lab Columbia SC 29208 USA

As the complexity of the missions to planetary surfaces increases, so too does the need for autonomous rover systems. This need is complicated by the power, mass and computer storage restrictions on such systems (Miller, Proceedings SPIE conference on Cooperative Intelligent robotics in Space III, 1829, pp. 472-475, 1992). To address these problems, we have recently developed a system called BISMARC (Biologically Inspired System for Map-based Autonomous Rover control) for planetary missions involving multiple small, lightweight surface revers (Huntsberger, Proceedings SPIE Symposium on sensor fusion and decentralized control in Autonomous robotic systems, pp. 221-227, 1997). BISMARC is capable of cooperative planetary surface retrieval operations such as a multiple cache recovery mission to Mars. The system employs autonomous navigation techniques, behavior-based control for surface retrieval operations, and an action selection mechanism based on a modified form of free flow hierarchy (Rosenblatt and Payton, Proceedings IEEE/INNS Joint conference on Neural Networks, pp. 317-324, 1989). This paper primarily describes the navigation and map-mapping subsystems of BISMARC. They are inspired by some recent studies of London taxi drivers indicating that the right hippocampal region of the brain is activated for path planning but not for landmark identification (Maguire et al., Journal of Neuroscience, 17, 7103-7110, 1997). We also report the results of some experimental studies of simulated navigation in planetary environments. (C) 1998 Elsevier Science Ltd. All rights reserved.

关键词： robot navigation hippocampal maps wavelets neural networks

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Application of a model of instrumental conditioning to mobile robot control

Application of a model of instrumental conditioning to mobil...

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conference on sensor fusion and decentralized control in Autonomous robotic systems

作者： Saksida, LM Touretzky, DS Carnegie Mellon Univ. (United States)

ISBN: (纸本)0819426415

Instrumental conditioning is a psychological process whereby an animal learns to associate its actions with their consequences. This type of learning is exploited in animal training techniques such as ''shaping by successive approximations'', which enables trainers to gradually adjust the animal's behavior by giving strategically timed reinforcements. While this is similar in principle to reinforcement learning, the real phenomenon includes many subtle effects not considered in the machine learning literature, In addition, a good deal of domain information is utilized by an animal learning a new task;it does not start from scratch every time it learns a new behavior. For these reasons, it is not surprising that mobile robot learning algorithms have yet to approach the sophistication and robustness of animal learning. A serious attempt to model instrumental learning could prove fruitful for improving machine learning techniques. In the present paper, we develop a computational theory of shaping at a level appropriate for controlling mobile robots. The theory is based on a series of mechanisms for ''behavior editing'', in which pre-existing behaviors, either innate or previously learned, can be dramatically changed in magnitude, shifted in direction, or otherwise manipulated so as to produce new behavioral routines. We have implemented our theory on Amelia, an RWI B21 mobile robot equipped with a gripper and color video camera. We provide results from training Amelia on several tasks, all of which were constructed as variations of one innate behavior, object-pursuit.

关键词： autonomous mobile robots instrumental learning operant conditioning reinforcement learning shaping

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Collision avoidance in a robot using looming detectors from a locust

Collision avoidance in a robot using looming detectors from ...

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conference on sensor fusion and decentralized control in robotic systems III

作者： Rind, FC Blanchard, M Verschure, PFMJ Newcastle Univ Dept Neurobiol Newcastle Upon Tyne NE1 7RU Tyne & Wear England

ISBN: (纸本)0819438618

The superb aerial performance of flying insects is achieved with comparatively simple neural machinery. We have been investigating the pathway in the locust visual system that signals the rapid approach of an object towards the eye. Two identified neurons have been shown to respond selectively to the images of an object approaching the locust's eye. A neural network based on the input organisation of these neurons responds directionally when challenged with approaching and receding objects and reveals the importance of a critical race, between excitation passing down the network and inhibition directed laterally, for the rapid build-up of excitation in response to approaching objects. The strongest response is given to an object approaching on a collision course with the eye, when collision is imminent. Like the neurons, the network is tightly tuned to a collision trajectory. We have incorporated this network into the control structure of a small mobile Kephera robot using the IQR 4-21 software we developed. The network responds to looming motion and is effective at evoking avoidance manoeuvres in the robot, moving at speeds from 1-12.5cm/s. Our aim is to use the circuit as an artificial looming detector for use in moving vehicles.

关键词： LGMD motion-detector insect sensor

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Coordinated perception by teams of aerial and ground robots

Coordinated perception by teams of aerial and ground robots

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conference on Mobile Robots XVII

作者： Grocholsky, B Swaminathan, R Kumar, V Taylor, C Pappas, G Univ Penn GRASP Lab Philadelphia PA 19104 USA

ISBN: (纸本)0819455628

Air and ground vehicles exhibit complementary capabilities and characteristics as robotic sensor platforms. Fixed wing aircraft offer broad field of view and rapid coverage of search areas. However, minimum operating airspeed and altitude limits, combined with attitude uncertainty, place a lower limit on their ability to detect and localize ground features. Ground vehicles on the other hand offer high resolution sensing over relatively short ranges with the disadvantaue of slow coverage. This paper presents a decentralized architecture and solution methodology for seamlessly realizing the collaborative potential of air and ground robotic sensor platforms. We provide a framework based on an established approach to the underlying sensor fusion problem. This provides transparent integration of information from heterogeneous sources. An information-theoretic utility measure captures the task objective and robot inter-dependencies. A simple distributed solution mechanism is employed to determine team member sensing trajectories subject to the constraints of individual vehicle and sensor sub-systems. The architecture is applied to a mission involving searching for and localizing an unknown number of targets in an user specified search area. Results for a team of two fixed wing UAVs and two all terrain UGVs equipped with vision sensors are presented.

关键词： heterogeneous robot teams active sensing sensor fusion coordinated control

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Development of a biomimetic underwater ambulatory robot: advantages of matching biomimetic control architecture with biomimetic actuators

Development of a biomimetic underwater ambulatory robot: adv...

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conference on sensor fusion and decentralized control in robotic systems III

作者： Witting, JH Ayers, J Safak, K Northeastern Univ Ctr Marine Sci Nahant MA 01908 USA

ISBN: (纸本)0819438618

The American Lobster Homarus americanus is a highly mobile marine decapod, ubiquitous to the benthic environment of the eastern North Atlantic. Lobsters occupy a range of subtidal habitats on the continental shelf, and are capable of navigating through spatially complex boulder fields, as well as coping with variable water currents. Given these competencies, we have adopted the lobster as a design model for a biomimetic autonomous underwater vehicle intended for operation in similar environments. A central motor pattern generator model was developed from electromyographic data from lobsters, and is being implemented on an eight-legged ambulatory vehicle. The vehicle uses Nitinol shape-memory alloy wires as linear actuators, physically modeling the antagonistic muscle pairs of a lobster leg. The contraction of the wires is produced by heating them with an electrical current. This produces a change in the crystalline structure of the material from a martensite to an austenite state, resulting in a 5% contraction of the wire. Three pairs of wires are used around three joints to produce a three-degrees-of-freedom walking leg. Current drivers power the actuators, and pulse-width modulation is used to obtain graded contractions from the muscles. The combination of a biologically based control system coupled with a linear actuator sharing many characteristics of invertebrate muscle tissue has enabled us to construct a biomimetic ambulatory robot sharing some of the competencies of the model.

关键词： artificial muscle Shape Memory Alloy biomimetic robot

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RoBlock - a prototype autonomous manufacturing cell

RoBlock - a prototype autonomous manufacturing cell

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conference on sensor fusion and decentralized control in robotic systems III

作者： Baekdal, LK Balslev, I Eriksen, RD Jensen, SP Jorgensen, BN Kirstein, B Kristensen, BB Olsen, MM Perram, JW Petersen, HG Petersen, ML Ruhoff, PT Skjolstrup, CE Sorensen, AS Waagenaar, JM Univ So Denmark Maersk McKinney Moller Inst Prod Technol DK-5230 Odense M Denmark

ISBN: (纸本)0819438618

RoBlock is the first phase of an internally financed project at the Institute aimed at building a system in which two industrial robots suspended from a gentry, as shown below, cooperate to perform a task specified by an external user, in this case, assembling an unstructured collection of coloured wooden blocks into a specified 3-dimensional pattern. The blocks are indentified and localised using computer vision and grasped with a suction cup mechanism. Future phases of the project will involve other processes such as grasping and lifting, as well as other types of robot such as autonomous vehicles or variable geometry trusses. Innovative features of the control software system include: The use of an advanced trajectory planning system which ensures collision avoidance based on a generalisation of the method of artificial potential fields [1], The use of a generic model-based controller which "learns" the values of parameters, including static and kinetic friction, of a detailed mechanical model of itself by comparing actual with planned movements [2], The use of fast, flexible, and robust pattern recognition and 3D-interpretation strategies, Integration of trajectory planning and control with the sensor systems in a distributed Java application running on a network of PC's attached to the individual physical components. In designing this first stage, the aim was to build in the minimum complexity necessary to make the system non-trivially autonomous and to minimize the technological risks. The aims of this project, which is planned to be operational during 2000, are as follows: To provide a platform for carrying out experimental research in multi-agent systems and autonomous manufacturing systems, To test the interdisciplinary cooperation architecture of the Maersk Institute, in which researchers in the fields of applied mathematics (modelling the physical world), software engineering (modelling the system) and sensor/actuator technology (relating the virtual and

关键词： Manufacturing Cameras systems modeling control systems Robots Process modeling Java Design for manufacturability Prototyping sensors

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Reconfigurable robots for all terrain exploration

Reconfigurable robots for all terrain exploration

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conference on sensor fusion and decentralized control in robotic systems III

作者： Schenker, PS Pirjanian, P Balaram, B Ali, KS Trebi-Ollennu, A Huntsberger, TL Aghazarian, H Kennedy, BA Baumgartner, ET Iagnemma, K Rzepniewski, A Dubowsky, S Leger, PC Apostolopoulos, D McKee, GT CALTECH Jet Prop Lab Pasadena CA 91109 USA

ISBN: (纸本)0819438618

While significant recent progress has been made in development of mobile robots for planetary surface exploration, there remain major challenges. These include increased autonomy of operation, traverse of challenging terrain, and fault-tolerance under long, unattended periods of use. We have begun work which addresses some of these issues, with an initial focus on problems of "high risk access," that is, autonomous roving over highly variable, rough terrain. This is a dual problem of sensing those conditions which require rover adaptation, and controlling the rover actions so as to implement this adaptation in a well understood way (relative to metrics of rover stability, traction, power utilization, etc.). Our work progresses along several related technical lines: 1) development a fused state estimator which robustly integrates internal rover state and externally sensed environmental information to provide accurate "configuration" information;2) kinematic and dynamical stability analysis of such configurations so as to determine "predicts" for a needed change of control regime (e.g., traction control, active c.g. positioning, rover shoulder stance/pose);3) definition and implementation of a behavior-based control architecture and action-selection strategy which autonomously sequences multi-level rover controls and reconfiguration. We report on these developments, both software simulations and hardware experimentation. Experiments include reconfigurable control of JPL's Sample Return Rover geometry and motion during its autonomous traverse over simulated Mars terrain.

关键词： mobile robots reconfigurable robots modular robots Mars rovers robot architectures robot control intelligent control sensor fusion fused state estimation field robotics

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A novel approach towards computing global maps for multi-robotic operation in tactical environments 4

A novel approach towards computing global maps for multi-rob...

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conference on Disruptive Technologies in Information Sciences iv

作者： Johnson-bey, Ishmael Dasari, Venkateswara R. CCDC US Army Res Lab Aberdeen Proving Ground MD 21005 USA

ISBN: (纸本)9781510636163

During multi-robot simultaneous localization and mapping (SLAM) tasks, a team of robot agents must efficiently synthesize a global map from individual local maps. One method to accomplish this is reserving a subset of robots to perform data fusion and assigning the others to collect and generate local maps. While this solves, the division of labor problem, it requires humans to explicitly designate which robots handle what tasks and it does not scale well to large teams. Moreover, when robots are operating in tactical environments, they may be placed on a heterogeneous team, with limited or unreliable communication infrastructure. To assist with the task of role assignment, we describe a novel decentralized message passing algorithm, for what we are calling Distributed Leader Consensus (DLC). DLC helps a set of agents self-organize into structured groups by giving them the ability to autonomously come to a consensus on the group leader. Our approach is entirely distributed, easily configurable, and is robust to agents being dynamically added to or removed from the system. DLC may be configured to limit group sizes, assign multiple leaders, and select leaders based on computational power and/or physical proximity. We test our approach in simulation by having a set of agents adapt to changing teammate availability.

关键词： multi-agent systems decentralized control multi-agent coordination distributed consensus

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Integrated multi-sensor package (IMSP) for unmanned vehicle operations - art. no. 673604

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conference on Unmanned/Unattended sensors and sensor Networks iv

作者： Crow, Eddie C. Reichard, Karl Rogan, Chris Callen, Jeff Seifert, Elwood Penn State Univ University Pk PA 16802 USA

ISBN: (纸本)9780819468949

This paper describes recent efforts to develop integrated multi-sensor payloads for small robotic platforms for improved operator situational awareness and ultimately for greater robot autonomy. The focus is on enhancements to perception through integration of electro-optic, acoustic, and other sensors for navigation and inspection. The goals are to provide easier control and operation of the robot through fusion of multiple sensor outputs, to improve interoperability of the sensor payload package across multiple platforms through the use of open standards and architectures, and to reduce integration costs by embedded sensor data processing and fusion within the sensor payload package. The solutions investigated in this project to be discussed include: improved capture, processing and display of sensor data from multiple, non-commensurate sensors;an extensible architecture to support plug and play of integrated sensor packages;built-in health, power and system status monitoring using embedded diagnostics/prognostics;sensor payload integration into standard product forms for optimized size, weight and power;and the use of the open Joint Architecture for Unmanned systems (JAUS)/Society of Automotive Engineers (SAE) AS-4 interoperability standard. This project is in its first of three years. This paper will discuss the applicability of each of the solutions in terms of its projected impact to reducing operational time for the robot and teleoperator.

关键词： multi-sensor payloads unmanned ground vehicles robots JAUS open-systems architecture operator control unit service oriented architecture force protection physical security Penn State University

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Networked sensor communications for the objective force

Networked sensor communications for the objective force

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conference on Unattended Ground sensor Technologies and Applications iv

作者： Nemeroff, JL Garcia, L DiPierro, S Hamilton, BA USA CECOM RDEC Space & Terr Commun Directorate Ft Monmouth NJ USA

ISBN: (纸本)0819444936

The US Army's Future Combat systems (FCS) and Objective Force will rely heavily on the use of unattended sensor net-works to detect, locate and identify enemy targets in order to survive with less armor protection on the future battlefield. Successful implementation of these critical communication net-works will require the collection of the sensor data, processing and collating it with available intelligence, then transporting it in a format conducive to make quick and accurate command decisions based on the latest tactical situational awareness. The networked communications must support both static deployed and mobile ground and air robotic sensors with secure, stealthy, andjam resistant links for sensor fusion and command and control. It is envisioned for broadest application that sensor networks can be deployed in a two-tiered architecture. The architecture includes a lower sensor sub-layer consisting of mixes of acoustic, magnetic and seismic detectors and an upper sub-layer consisting of infrared or visual imagers. The upper sub-layer can be cued by the lower sub-layer and provides a gateway link to the higher echelon tactical maneuver layer networks such as the Tactical Internet. The sensor deployments, networking constraints and reach back distances to Command and control (C2) nodes will be mission scenario specific, however, the architecture will also apply to tactical unattended sensor, munition and robotic applications. Technologies from the Army Research Laboratory, Defense Advance Research Projects Agency (DARPA), and commercial will be leveraged for this effort.

关键词： sensors Unattended ground sensors sensor networks Network architectures Telecommunications Fluorescence correlation spectroscopy Magnetic sensors Image processing Situational awareness sensors Unattended sensors

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