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

共 104 条记录，以下是41-50 订阅

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Development of a self-reconfigurable modular robotic system

Development of a self-reconfigurable modular robotic system

引用

conference on sensor fusion and decentralized control in robotic systems III

作者： Tomita, K Murata, S Yoshida, E Kurokawa, H Kamimura, A Kokaji, S Minist Int Trade & Ind Agcy Ind Sci & Technol Mech Engn Lab Tsukuba Ibaraki 3058564 Japan

ISBN: (纸本)0819438618

We present a novel type of modular robotic system that has a capability of both autonomous shape reconfiguration and robotic motion generation. We have developed hardware modules and examined basic mechanical functions and reconfiguration. A simulation system of the modular robotic system has also been developed to design the reconfiguration sequence and motion for a cluster of the modules.

关键词： self-reconfigurable robot distributed autonomous system modular robot

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3D model creation through volumetric fusion of multiple range images

3D model creation through volumetric fusion of multiple rang...

引用

conference on sensor fusion and decentralized control in Autonomous robotic systems

作者： Elsner, DL Whitaker, RT Abidi, MA Univ. of Tennessee/Knoxville (United States)

ISBN: (纸本)0819426415

This paper presents a method to fuse multiple noisy range images to obtain a 3-D model of an object. This method projects each range image onto a volumetric grid that is divided into volume elements (voxels). We place a value in each voxel that represents our degree of certainty that that voxel is inside the sensed object. We determine this value by constructing a line from the voxel to the sensor's location and calculating the point that it intersects the range image. The certainty value is determined from the distance from the voxel to the range image intersection point and an estimate of the sensor's noise characteristics. The super Bayesian combination formula is used to fuse the grids created from the individual range images into an overall volumetric grid. We obtain the object model by extracting an isosurface at the value of 1/2 from the volumetric data using a variation of the marching cubes algorithm.

关键词： volumetric modeling range images sensor data fusion

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Automatic lane keeping of a vehicle based on perception net.

Automatic lane keeping of a vehicle based on perception net.

引用

conference on sensor fusion and decentralized control in robotic systems III

作者： Boo, K Jung, MY Inje Univ Dept Mech Engn Kimhae Kyungnam South Korea

ISBN: (纸本)0819438618

The objective of this research is to monitor and control the vehicle motion in order to remove out the existing safety risk based upon the human-machine cooperative vehicle control. A predictive control method is proposed to control the steering wheel of the vehicle to keep the lane. Desired angle of the steering wheel to control the vehicle motion could be calculated based upon vehicle dynamics, current and estimated pose of the vehicle every sample steps. The vehicle pose and the road curvature were calculated by geometrically fusing sensor data fro*m camera image, tachometer and steering wheel encoder though the Perception Net, where not only the state variables, but also the corresponding uncertainties were propagated in forward and backward direction in such a way to satisfy the given constraint condition, maintain consistency, reduce the uncertainties, and guarantee robustness. A series of experiments was conducted to evaluate the control performance, in which a car like robot was utilized to quit unwanted safety problem. As the results, the robot was keeping very well a given lane with arbitrary shape at moderate speed.

关键词： perception net sensor fusion vehicle motion control image processing

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A framework for coordinating multiple robots in cooperative manipulation tasks

A framework for coordinating multiple robots in cooperative ...

引用

sensor fusion and decentralized control in robotic systems iv conference

作者： Chaimowiez, L Kumar, V Campos, M Univ Fed Minas Gerais DCC VERLab BR-31270010 Belo Horizonte MG Brazil

ISBN: (纸本)0819442992

In this paper, we describe a framework for coordinating multiple robots in the execution of a cooperative manipulation task. The coordination is distributed among the robots that use modular, hybrid controllers in order to execute the task. Different plans and models of the environment are built using a mix of global and local information and can be shared by the team members using wireless communication. Our framework uses models and metrics of computation, control, sensing and information in order to dynamically assign roles to the robots, and define the most suitable control hierarchy given the requirements of the task and characteristics of the robots. To test our framework, we have developed a object oriented simulator that allows the user to create different types of robots, to define different environments and to specify various types of control algorithms and communication protocols. Using the simulator, we have been able to test the execution of this task in different scenarios with different numbers of robots. We can verify the efficacy of the robot controllers, the effects of different parameters on the system performance and the ability of the robots to adapt to changes in the environment. Results from experiments with two real robots and with the simulator are used to explore the multi-robot coordination in a cooperative manipulation task.

关键词： cooperative robotics distributed control

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Processing modules for hybrid, real-time, distributed robot architectures

Processing modules for hybrid, real-time, distributed robot ...

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conference on sensor fusion and decentralized control in Autonomous robotic systems

作者： Chernett, P Colley, M Callaghan, V Univ. of Essex (United Kingdom)

ISBN: (纸本)0819426415

New experimental hardware for research into architectures for distributed intelligent embedded systems is proposed that will provide a wide range of communication media including non-deterministic broadcast such as Ethernet, deterministic broadcast such as CAN and processor busses such as VME. The emphasis is on large scale system integration rather than provision for individual capabilities. A prototype implementation of some of the proposed hardware and software modules is described together with their use in several research.

关键词： hybrid architecture distributed systems autonomous vehicles real-time agricultural vehicles subsea vehicles

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sensor-fused navigation and manipulation from a planetary rover

Sensor-fused navigation and manipulation from a planetary ro...

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conference on sensor fusion amd decentralized control in robotic systems

作者： Baumgartner, ET Leger, PC Schenker, PS Huntsberger, TL CALTECH Jet Prop Lab Sci & Technol Dev Sect Pasadena CA 91109 USA

ISBN: (纸本)0819429848

This paper describes the development of advanced rover navigation and manipulation techniques for use by NASA's Sample Return Rover. These techniques include an algorithm for estimating the change in the rover's position aid orientation ky registering successive range maps from the rover's hazard avoidance stereo camera pair and the fusion of this information with the rover's wheel odometry. This map registration technique is also extended to register range maps to an a priori model-based range map for relative rover position and orientation determination. Finally, a technique for the robust and precise positioning of a rover-mounted manipulator using visual feedback from the rover's stereo pair is presented. Experimental results for each of these techniques is documented in this paper.

关键词： rover navigation state estimation map registration vision-based manipulation

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Nonlinear attractor dynamics: A new approach to sensor fusion

Nonlinear attractor dynamics: A new approach to sensor fusio...

引用

sensor fusion and decentralized control in robotic systems II conference

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

ISBN: (纸本)0819434329

Fusing information of multiple sensors is particularly difficult if the sensor systems which provide the information have very different characteristics such as different data formats, reliabilities, signal to noise ratios, sampling rates and so on. Furthermore, the information is often provided on different levels of abstraction such as the direct sensor output in contrast to expert knowledge or a priori information. We propose a new approach to sensor fusion which accounts for these problems. The basic idea is to represent the quantity to estimate as the state variable of a nonlinear dynamical system. The sensor signals act on this dynamics by specifying attractors with limited range of influence. The dynamics relaxes into a stable state which results from the superposition of the attractors. By means of the limited attractor ranges, the dynamics automatically averages nonlinearly over corresponding sensor signals while outliers stemming from temporarily de-calibrated or erroneous sensors are discarded. Self-calibration is achieved by representing also the sensor signals as dynamical states and specifying an attractor at the position of the fused estimate. By using the unified attractor representation, abstract information can be treated in the same way as direct sensor input. Furthermore a mathematically well defined and algebraically analyzable format for dynamic sensor information on various levels of abstraction is available. We verify our concept for the example of man-machine interaction: fusing visual and odometric sensor information for the autonomous position estimation with acoustic guidance information for the target acquisition of a mobile robot.

关键词： nonlinear dynamics attractors sensor fusion mobile robot

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Ceramic Engineering and Science Proceedings: 63rd conference on Glass Problems

Ceramic Engineering and Science Proceedings: 63rd Conference...

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sensor fusion and decentralized control in robotic systems iv

This Volume 24 of the conference proceedings contains 18 papers. Topics discussed include glass forming, glass melting, recycling and glass production.

关键词： Glass

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Consequences of module combination in a modular robotics system

Consequences of module combination in a modular robotics sys...

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sensor fusion and decentralized control in robotic systems II conference

作者： Fryer, JA McKee, GT Univ Reading Act Robot Grp Dept Comp Sci Reading RG6 6AY Berks England

ISBN: (纸本)0819434329

Modular robotics considers robots to be composed of distinct functional modules, which may be combined to perform tasks. Module combination allows functionality to be tailored to a task, but has a number of requirements. The notion of a 'module' must be clearly defined, and functionality specified in an unambiguous manner. The nature of the combination must be defined according to specific relationships between modules, and the consequences arising from combination - for modules and for the robot as a whole - need to be considered. The MARS model has been developed to allow reasoning about module combination, in terms of the ways in which modules may be combined, and the consequences that may arise from that combination. This paper defines a set of consequences which may arise during module combination.

关键词： modular robotics systems module combination

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sensor-fused autonomous guidance of a mobile robot and applications to Mars Sample Return operations

Sensor-fused autonomous guidance of a mobile robot and appli...

引用

sensor fusion and decentralized control in robotic systems II conference

作者： Huntsberger, TL Baumgartner, ET Aghazarian, H Cheng, Y Schenker, PS Leger, PC Iagnemma, KD Dubowsky, S CALTECH Jet Prop Lab Sci & Technol Dev Sect Pasadena CA 91109 USA

ISBN: (纸本)0819434329

Generally, there are multiple sensor suites on existing rover platforms such as NASA's Sample Return Rover (SRR) and the Field Integrated Design and Operations (FIDO) rover at JPL. Traditionally, these sensor suites have been used in isolation for such tasks as planetary surface traversal. For example, although distant obstacle information is known from the narrow FOV navigation camera (NAVCAM) suite on SRR or FIDO, it is not explicitly used at this time for augmentation of the wide FOV hazard camera (HAZCAM) information for obstacle avoidance. This paper describes the development of advanced rover navigation techniques. These techniques include an algorithm for the generation of range maps using the fusion of information from the NAVCAMs and HAZCAMs, and an algorithm for registering range maps to an a priori model-based range map for relative rover position and orientation determination. Experimental results for each of these techniques are documented in this paper.

关键词： rover navigation state estimation map registration

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