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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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Development of CAMPOUT and its further applications to planetary rover operations: a multi-robot control architecture

Development of CAMPOUT and its further applications to plane...

引用

sensor fusion and decentralized control in robotic systems iv conference

作者： Pirjanian, P Huntsberger, TL Schenker, PS CALTECH Jet Prop Lab Planetary Robot Lab Pasadena CA 91109 USA

ISBN: (纸本)0819442992

In this paper, we describe an architecture for the development of autonomy software for multi-robot distributed control and collective estimation. CAMPOUT, the control Architecture for Multi-Robot Planetary OUTposts, provides communication facilities for sharing of state information across robots and it uses a behavior network for representation and execution of group activities as well as the activities of a single robot. In our research, we have shown that CAMPOUT provides a level of abstraction that enables us to develop multi-robot software in a manner much similar to what we use for single robot software development. We showcase the main architectural components by describing two multi-robot tasks for planetary construction and collective cliff-descent. For both tasks, we show how behavior networks can be used to describe group activities and how publish/subscribe and other communication mechanisms can be used to share state information across multiple robots.

关键词： control architecture multi-robot systems tight coordination planetary rover operations

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decentralized reinforcement learning control and emergence of motion patterns

Decentralized reinforcement learning control and emergence o...

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conference on sensor fusion amd decentralized control in robotic systems

作者： Svinin, M Yamada, K Okhura, K Ueda, K Kobe Univ Dept Mech Engn Nada Ku Kobe Hyogo 6578501 Japan

ISBN: (纸本)0819429848

In this paper we propose a system for studying emergence of motion patterns in autonomous mobile robotic systems. The system implements an instance-based reinforcement learning control. Three spaces are of importance in formulation of the control scheme. They are the work space, the sensor space, and the action space. Important feature of our system is that all these spaces are assumed to be continuous. The core part of the system is a classifier system. Based on the sensory state space analysis, The control is decentralized and is specified at the lowest level of the control system. However, the local controllers are implicitly connected through the perceived environment information. Therefore, they constitute a dynamic environment with respect to each other. The proposed control scheme is tested under simulation for a mobile robot in a navigation task. It is shown that some patterns of global behavior - such as collision avoidance, wall-following, light-seeking - can emerge from the local controllers.

关键词： sensors Space sensors control systems Space robots Optical sensors Collision avoidance Light sources Mobile robots robotic systems Environmental sensing

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Collection of environmental data from an airship platform

Collection of environmental data from an airship platform

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sensor fusion and decentralized control in robotic systems iv conference

作者： Kantor, G Wettergreen, D Ostrowski, JP Singh, S Carnegie Mellon Univ Inst Robot Pittsburgh PA 15213 USA

ISBN: (纸本)0819442992

We believe that solar powered, autonomous airships with the capability to embark on extended duration sampling missions will serve as valuable tools for environmental science. In this paper, we outline our vision for an autonomous airship and discuss some of the applications for which such a craft would be well suited. We also report on our efforts to date to realize this vision. Specifically, we discuss the use of solar energy as a renewable source of power for airships. We also describe the configuration of a nine meter airship that we will use as a testbed for environmental sampling and autonomy research. We conclude by outlining directions for future research.

关键词： sensors Solar energy Solar cells Environmental sensing Air contamination Carbon monoxide Global Positioning System Gyroscopes Navigation systems Skin

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Satisfying action selection

Satisfying action selection

引用

conference on sensor fusion amd decentralized control in robotic systems

作者： Pirjanian, P Univ Aalborg Lab Image Anal DK-9220 Aalborg Denmark

ISBN: (纸本)0819429848

It is argued that for real-world applications action selection should be satisficing, i.e. merely 'good enough' rather than optimal. It is then demonstrated that multiple objective decision theory provides a suitable framework for formulating action selection mechanisms that are satisficing. A set of experiments demonstrate the potential advantages of the proposed action selection mechanisms.

关键词： action selection behavior-based control multiple objective decision making Pareto-optimality satisfying actions

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An open multi-agent control architecture to support virtual reality based man-machine interfaces

An open multi-agent control architecture to support virtual ...

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sensor fusion and decentralized control in robotic systems iv conference

作者： Freund, E Rossmann, R Brasch, M Univ Dortmund Inst Robot Res D-44227 Dortmund Germany

ISBN: (纸本)0819442992

Projective Virtual Reality(2) is a new and promising approach to intuitively operable man machine interfaces for the commanding and supervision of complex automation systems. The user interface part of Projective Virtual Reality heavily builds on latest Virtual Reality techniques, a task deduction component and automatic action planning capabilities. In order to realize man machine interfaces for complex applications, not only the Virtual Reality part has to be considered but also the capabilities of the underlying robot and automation controller are of great importance. This paper presents a control architecture that has proved to be an ideal basis for the realization of complex robotic and automation systems that are controlled by Virtual Reality based man machine interfaces. The architecture does not just provide a well suited framework for the real-time control of a multi robot system but also supports Virtual Reality metaphors and augmentations which facilitate the user's job to command and supervise a complex system. The developed control architecture has already been used for a number of applications. Its capability to integrate sensor information from sensors of different levels of abstraction in real-time helps to make the realized automation system very responsive to real world changes. In this paper, the architecture will be described comprehensively, its main building blocks will be discussed and one realization that is built based on an open source real-time operating system will be presented. The software design and the features of the architecture which make it generally applicable to the distributed control of automation agents in real world applications will be explained. Furthermore its application to the commanding and control of experiments in the Columbus space laboratory, the European contribution to the International Space Station (ISS), is only one example which will be described.

关键词： Projective Virtual Reality robot controller real-time-capability distributed system International Space Station man-machine-interface

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Explaining finite state machine characteristics using variable structure control

Explaining finite state machine characteristics using variab...

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conference on sensor fusion and decentralized control in Autonomous robotic systems

作者： Feddema, JT Robinett, RD Driessen, BJ Sandia National Labs. (United States)

ISBN: (纸本)0819426415

This paper describes how variable structure control can be used to describe the overall behavior of multiple autonomous robotic vehicles with simple finite state machine rules. The importance of this result is that we can then begin to design provably asymptotically stable group behaviors from a set of simple control laws and appropriate switching points with variable structure control. The ability to prove convergence to a god is especially important for applications such as locating military targets or land mines.

关键词： finite state machine cooperative behavior robotics variable structure control sliding mode control

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Wave control: A method of distributed control for repeated unit tentacles

Wave control: A method of distributed control for repeated u...

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sensor fusion and decentralized control in robotic systems II conference

作者： Rudakevych, P IS Robotics Inc. (United States)

ISBN: (纸本)0819434329

A method is presented for distributed position control of the tip of a high degree of freedom tentacle. The scheme employs limited communications which occurs only between adjacent degrees of freedom. Total computational requirements for the tentacle are linear with the number of degrees of freedom and are distributed as identical processes at joint. An iterative approach to position control allows automatic path planning around obstacles to occur. The resulting system allows complex tasks to be performed with limited computation and sensing resources. The algorithm was used as a basis for locomotion for a mobile robot with four tentacles.

关键词： tentacle distributed control high degree of freedom

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Underwater robot society doing internal inspection and leak monitoring of water systems

Underwater robot society doing internal inspection and leak ...

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conference on sensor fusion and decentralized control in Autonomous robotic systems

作者： Halme, A Vainio, M Appelqvist, P Jakubik, P Schonberg, T Visala, A Helsinki Univ. of Technology (Finland)

ISBN: (纸本)0819426415

In the field of civil engineering an effective infernal monitoring of pipes and water storage is very problematic. Normally the sensors used for the task are either fixed or manually movable. Thus they will only provide locally and temporally restricted information. As a solution an underwater robotic sensor/actuator society is presented. The system is capable of operating inside a fluid environment as a kind of distributed sensory system. The value of the system emerges from the interactions between the members. Through a communication system the society fuses information from individual members and provides a more reliable estimate of the conditions inside water systems. Test results in a transparent demo process consisting of tanks and pipes with a volume of 700 liters are presented.

关键词： underwater robot society leak detection data fusion

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Behavioral diversity as multiagent cooperation

Behavioral diversity as multiagent cooperation

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sensor fusion and decentralized control in robotic systems II conference

作者： Balch, T Carnegie Mellon Univ Pittsburgh PA 15213 USA

ISBN: (纸本)0819434329

In many cases cooperation between robots is implemented using explicit, perhaps complex, coordination protocols. However, research in behavior-based multirobot systems suggests that effective cooperative teams can be composed of agents using simple individual agent behaviors with limited or no communication. In this paper we propose behavioral diversity as an alternative cooperative strategy. Behavioral diversity refers to the extent to which agents assume distinct behavioral roles in a group. By filling diverse roles the team members distribute responsibility for various components of the task. It is not always the case, however, that diversity is advantageous. Results of experiments in robotic soccer and multirobot foraging tasks indicate that the utility of diversity depends on the task. This paper describes behaviorally diverse solutions to these tasks and provides a comparison that suggests why some tasks are suited for behavioral diversity and others are not.

关键词： multiagent robotic systems cooperation diversity

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Dynamical systems for the behavioral organization of autonomous robot navigation

Dynamical systems for the behavioral organization of autonom...

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conference on sensor fusion amd decentralized control in robotic systems

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

ISBN: (纸本)0819429848

We present an architecture for the behavioral organization of autonomous robots. For the example of navigation, we describe how complex behavior can be broken up into multiple elementary behaviors. The overall behavior is generated by activating and deactivating the elementary behaviors dependent on both the sensor input and the intrinsic logics of the behavioral plan needed to fulfill the task. The elementary behaviors as well as their organization into behavioral sequences are achieved by appropriately designed nonlinear dynamical systems. We show how intrinsicly discrete functionalities like counting and decision making can be realized by nonlinear dynamical systems and how these dynamics can be coupled stably and flexibly.

关键词： autonomous systems dynamical systems navigation behavioral organization behavioral sequences logics

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