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

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Building a million beacon map

Building a million beacon map

引用

sensor fusion and decentralized control in robotic systems iv conference

作者： Julier, SJ Uhlmann, JK IDAK Ind Jefferson City MO 65109 USA

ISBN: (纸本)0819442992

Many future missions for mobile robots demand multi-robot systems which are capable of operating in large environments for long periods of time. A critical capability is that each robot must be able to localise itself. However, GPS cannot be used 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. In this paper we consider the problem of building and maintaining an extremely large map (of one million beacons). We describe a fully distributed, highly scaleable SLAM algorithm which is based on distributed data fusion systems. A central map is maintained in global coordinates using the Split Covariance Intersection (SCI) algorithm. Relative and local maps are run independently of the central map and their estimates are periodically fused with the central map.

关键词： Filtering (signal processing) Mobile robots Data fusion Algorithm development Process modeling robotic systems sensors Distributed computing Global Positioning System robotics

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Steering and control of a passively articulated robot

Steering and control of a passively articulated robot

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sensor fusion and decentralized control in robotic systems iv conference

作者： Shamah, B Wagner, MD Moorehead, S Teza, J Wettergreen, D Whittaker, WR Carnegie Mellon Univ Inst Robot Field Robot Ctr Pittsburgh PA 15213 USA

ISBN: (纸本)0819442992

The need for light weight yet highly mobile robotic platforms is driven by the limitation of available power. With unlimited energy, surface exploration missions could survive for months or years and greatly exceed their current productivity. The Sun-Synchronous Navigation project is developing long-duration solar-powered robot exploration through research in planning techniques and low-mass robot configurations. Hyperion is a rover designed and built for experiments in sun-synchronous exploration. This paper details Hyperion's steering mechanism and control, which features 4-wheel independent drive and an innovative passively articulated steering joint for locomotion.

关键词： Motion controllers robotics control systems Reliability Kinematics Computer programming Actuators Amplifiers sensors Sun

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Algebraic reconstruction technique fusing with pointwise measurements in optical computerized tomography

Algebraic reconstruction technique fusing with pointwise mea...

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sensor fusion and decentralized control in robotic systems iv conference

作者： Yao, W Adjouadi, M Florida Int Univ Dept Elect & Comp Engn Miami FL 33174 USA

ISBN: (纸本)0819442992

In Optical Computerized Tomography (OCT) reconstruction, the well-known restrictions are positivity of the field and boundary conditions. In this paper, the extra information - the probed value of a set of isolated points, which is readily available in industrial practice, is introduced into OCT based on information fusing (IF) techniques. To solve the incompatibility of the different testing systems, which brings high frequencies disturbance to the reconstruction, an adaptive algorithm is developed to make a good use of the pointwise priori. The algorithm derived from the third Algebraic Reconstruction Technique (ART3), is not only friendly to the information from various measuring systems, but very robust to irregular noise and even missing projections as well. By analyzing the simulated experiments, we strongly suggest that OCT give some attention to the information from external resources.

关键词： Optical Computerized Tomography Algebraic Reconstruction Techniques information fusion

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A Bayesian network approach to sensor fusion of aerial imagery

A Bayesian network approach to sensor fusion of aerial image...

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sensor fusion and decentralized control in robotic systems iv conference

作者： Kämpke, T Elfes, A Res Inst Appl Knowledge Proc Ulm Germany

ISBN: (纸本)0819442992

Estimation of superresolution models is a problem of great interest across a broad range of applications in computer vision and robot perception. However, approaches to superresolution model estimation tend to have very high computational complexity. In this paper, we address the superresolution model estimation problem using a general modelling approach based on two-layer Bayesian or causal networks. sensor nodes encode stochastic sensor models, while model nodes encode probabilistic inferences made about their state. The model nodes are arranged as a MRF spatial lattice. We derive optimal estimation procedures for several classes of superresolution world models, including single and multiple observation models, and analyze their computational complexity. We subsequently introduce three suboptimal estimation methods: Reinjection of Marginals (ROM), Independent Opinion Pool (IOP), and Non-Propagation of Neighbours (NPN). These methods, although suboptimal, are extremely efficient and provide high-quality superresolution estimates. We conclude by presenting results from the application of these procedures to the fusion of multiple aerial images to form highly accurate superresolution images for airborne surveying and monitoring applications.

关键词： stochastic sensor fusion Bayesian networks superresolution image estimation Markov random fields stochastic spatial models airborne monitoring

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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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Integrated virtual space control system utilizing hand gesture for intelligent house

Integrated virtual space control system utilizing hand gestu...

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sensor fusion and decentralized control in robotic systems iv conference

作者： Mori, T Shimosaka, M Sato, T Univ Tokyo Bunkyo Ku Tokyo 1138656 Japan

ISBN: (纸本)0819442992

This paper proposes an integrated virtual space control system for intelligent house room which consists of many kinds of appliances and information systems to enrich human life. The main features of the system are 1) the user controls the system via a large size display which represents system state linked to "real" appliances, 2) the system utilizes hand gesture to realize intuitive interaction, 3) the virtual space of the display utilizes 3D drag-and-drop metaphor. As for the core component of the proposed system, the paper reports implementation of a hand motion tracking system with multiple views and a controllable camera. Experimental results show that the tracking system solves a problem of the system scale explosion to achieve the accuracy and stability in real-time tracking.

关键词： home-use computer human interaction virtual space display virtual object handling computer vision gesture recognition human hand tracking color extraction Kalman filter

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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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Large-scale concurrent mapping and localization

Large-scale concurrent mapping and localization

引用

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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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...

引用

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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