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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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Nonholonomic camera space manipulation using cameras mounted on a mobile base

Nonholonomic camera space manipulation using cameras mounted...

引用

conference on sensor fusion amd decentralized control in robotic systems

作者： Goodwine, B Seelinger, M Skaar, SB Ma, Q Univ Notre Dame Notre Dame IN 46556 USA

ISBN: (纸本)0819429848

The body of work called "Camera Space Manipulation" is an effective and proven method of robotic control. Essentially, this technique identifies and refines the input-output relationship of the plant using estimation methods and drives the plant open-loop to its target state. Three-dimensional "success" of the desired motion, i.e., the end effector of the manipulator engages a target at a particular location with a particular orientation, is guaranteed when theres is camera space success in two cameras which are adequately separated. Very accurate, sub-pixel positioning of a robotic end effector is possible using this method. To date, however, most efforts in this area have primarily considered holonomic systems. This work addresses the problem of nonholonomic camera space manipulation by considering the problem of a nonholonomic robot with two cameras and a holonomic manipulator on board the nonholonomic platform. While perhaps not as common in robotics, such a combination of holonomic and nonholonomic degrees of freedom are ubiquitous in industry: fork lifts and earth moving equipment are common examples of a nonholonomic system with an on-board holonomic actuator. The nonholonomic nature of the system makes the automation problem more difficult due to a variety of reasons;in particular, the target location is not fixed in the image planes, as it is for holonomic systems (since the cameras are attached to a moving platform), and there is a fundamental "path dependent" nature of nonholonomic kinematics. This work focuses on the sensor space or camera-space-based control laws necessary for effectively implementing an autonomous system of this type.

关键词： camera space manipulation robotic vision

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Dynamic Bayes net approach to multimodal sensor fusion

Dynamic Bayes net approach to multimodal sensor fusion

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conference on sensor fusion and decentralized control in Autonomous robotic systems

作者： Singhal, A Brown, C Univ. of Rochester (United States)

ISBN: (纸本)0819426415

Autonomous mobile robots rely on multiple sensors to perform a varied number of tasks in a, given environment. Different tasks may need different sensors to estimate different subsets of world state. Also, different sensors can cooperate in discovering common subsets of world state. This paper presents a nerv approach to multimodal sensor fusion using dynamic Bayesian networks and an occupancy grid. The environment in which the robot operates is represented with an occupancy grid, This occupancy grid is asynchronously updated using probabilistic data obtained from multiple sensors and combined using Bayesian networks. Each cell in the occupancy grid stores multiple probability density functions representing combined evidence for the identity, location and properties of objects in the world. The occupancy grid a;iso contains probabilistic representations for moving objects. Bayes nets allow information from one modality to provide cues for interpreting the output of sensors in other modalities. Establishing correlations or associations between sensor readings or interpretations leads to learning the conditional relationships between them, Thus bottoms-up, reflexive, or even accidentally-obtained information earn provide tops-down cues for other sensing strategies. We present early results obtained for a mobile robot navigation task.

关键词： dynamic Bayes nets multimodal sensor fusion mobile robot navigation occupancy grids

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Visual servo system based on a biologically-inspired scanning sensor

Visual servo system based on a biologically-inspired scannin...

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sensor fusion and decentralized control in robotic systems II conference

作者： Viollet, S Franceschini, N CNRS Neurobiol Lab LNB3 F-13402 Marseille 20 France

ISBN: (纸本)0819434329

In the framework of our biologically inspired robotics approach, we describe a visually-guided demonstration model aircraft, the attitude of which is stabilized in yaw by means of a novel, non emissive optical sensor having a small visual field. This aircraft incorporates a miniature scanning sensor consisting of two photoreceptors with adjacent visual axes, driving a Local Motion Detector (LMD), which are made to perform a low-amplitude scanning at a varying angular speed. Under these conditions, the signal output from the motion detector varies gradually with the angular position of a contrasting object placed in its visual field, actually making the complete system a non-emissive optical "position sensor". Its output, remarkably, (i) varies quasi-linearly with the angular position of the contrasting object, and (ii) remains largely invariant with respect to the distance to the object and its degree of contrast. We built a miniature, twin-engine, twin-propeller aircraft (weight 100 grammes) equipped with this visual position sensor. After incorporating the sensor into a visuomotor feedback loop enhanced by an inertial sensor, we established that the "sighted aircraft" can fixate and track a dark edge placed in its visual field, thus opening the way for the development of visually-guided systems for controlling the attitude of micro-air vehicles, of the kind observed in insects such as hover-flies.

关键词： vision optical sensor position sensor non-emissive sensor scanning tracking visual fixation motion detection micro air vehicles attitude control

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Reciprocal excitation between biological and robotic research

Reciprocal excitation between biological and robotic researc...

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conference on sensor fusion and decentralized control in robotic systems III

作者： Schaal, S Sternad, D Dean, W Kotosaka, S Osu, R Kawato, M Univ So Calif Los Angeles CA 90089 USA

ISBN: (纸本)0819438618

While biological principles have inspired researchers in computational and engineering research for a long time, there is still rather limited knowledge flow back from computational to biological domains. This paper presents examples of our work where research on anthropomorphic robots lead us to new insights into explaining biological movement phenomena, starting from behavioral studies up to brain imaging studies. Our research over the past years has focused on principles of trajectory formation with nonlinear dynamical systems, on learning internal models for nonlinear control, and on advanced topics like imitation learning. The formal and empirical analyses of the kinematics and dynamics of movements systems and the tasks that they need to perform lead us to suggest principles of motor control that later on we found surprisingly related to human behavior and even brain activity.

关键词： Robots Kinematics robotics Dynamical systems Brain Biological research control systems Differential equations systems modeling Complex systems

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Self-development of visual space perception by learning from the hand

Self-development of visual space perception by learning from...

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conference on sensor fusion amd decentralized control in robotic systems

作者： Chung, JM Ohnishi, N RIKEN Inst Phys & Chem Res Biomimet Control Res Ctr Moriyama Ku Nagoya Aichi 463 Japan

ISBN: (纸本)0819429848

Animals have been considered to develope ability for interpreting images captured on their retina by themselves gradually from their birth. For this they do not need external supervisor. We think that the visual function is obtained together with the development of hand reaching and grasping operations which are executed by active interaction with environment. On the viewpoint of hand teaches eye, this paper shows how visual space perception is developed in a simulated robot. The robot has simplified human-like structure used for hand-eye coordination. From the experimental results it may be possible to validate the method to describe how visual space perception of biological systems is developed. In addition the description gives a way to self-calibrate the vision of intelligent robot based on learn by doing manner without external supervision.

关键词： self-developing robot visual space perception absolute size perception size constancy stereo eye motion learning from the hand reaching grasping

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New approach for motion coordination of a mobile manipulator using fuzzy behavioral algorithms

New approach for motion coordination of a mobile manipulator...

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sensor fusion and decentralized control in robotic systems iv

作者： Häusler, Kurt Klement, Erich P. Zeichen, Gerfried Profactor Research GmbH Wehrgrabengasse 1-5 4400 Steyr Austria Fuzzy Logic Lab. Linz-Hagenberg University of Linz Hauptstraße 99 4232 Hagenberg Austria Institute of Flexible Automation Technical University of Vienna Gußhausstraße 27-29 1040 Vienna Austria

In this paper a new approach for the coordination of the motion axes of a mobile manipulator based on fuzzy behavioral algorithms and its implementation on a physical demonstrator is presented. The kinematic redundancy of the overall system (consisting of a 7 DOF manipulator and a 3 DOF mobile robot) will be used for autonomous and reactive motion of the mobile manipulator within poorely structured and even dynamically changing surroundings. sensors around the mobile and along the manipulator will provide the necessary information for navigation purposes and perception of the environment.

关键词： control system analysis

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An Extended Kalman Filter for frequent local and infrequent global sensor data fusion

An Extended Kalman Filter for frequent local and infrequent ...

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conference on sensor fusion and decentralized control in Autonomous robotic systems

作者： Roumeliotis, SI Bekey, GA Department of Electrical Engineering Department of Computer Science Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA 90089-0781 United States

ISBN: (纸本)0819426415

In this paper we compare the performance of a dead-reckoning system for robot navigation to a system using an Extended Kalman Filter (EKF). Dead-reckoning systems are able to approximate position and orientation by feeding data (provided usually by local sensors) to the kinematic model of the vehicle. These systems are subject to many different sources of error. EKFs have the ability to combine the same information and compensate for most of these errors to yield a better estimate. Our simulation results using a simplified kinematic model of Rocky 7 (an experimental rover used in the Mars exploration program at Jet Propulsion Laboratory (JPL)) show that an improvement in performance up to 40% (position error) can be achieved. The local sensors used are: wheel encoders, steering angle potentiometer and gyroscope. Involvement of global sensor measurements can drastically increase the accuracy of the estimate. The lack of GPS or magnetic field on Mars narrows our choices for global localization. Landmarks, such as the sun can be used as natural beacons (reference point for absolute measurements). A sun sensor (SS) that measures the absolute orientation of the rover has been built by Lockheed Martin and now is part of the sensor suite of Rocky 7. The SS measurement is crucial for the estimation filter and we show that the accuracy of the estimation decreases exponentially as the frequency of the SS data fed to the EKF decreases.

关键词： robot localization sun sensor Extended Kalman Filter

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Fault tolerant action selection for planetary rover control

Fault tolerant action selection for planetary rover control

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conference on sensor fusion amd decentralized control in robotic systems

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

ISBN: (纸本)0819429848

The ability of a small rover to operate semi-autonomously in a hazardous planetary environment was recently demonstrated by the Sojourner mission to Mars in July of 1997. Sojourner stayed within a 50 meter radius of the Pathfinder lander. Current NASA plans call for extended year-long multikilometer treks for the 2003 and 2005 missions. A greater deal of rover autonomy is required for such missions. We have recently developed a hybrid wavelet/neural network based system called BISMARC (Biologically Inspired System for Map-based Autonomous Rover control), that is capable of such autonomy. Simulations reported at this meeting last year demonstrated that the system is capable of control for multiple rovers involved in a multiple cache recovery scenario. This robust behavior was obtained through the use of a free-flow hierarchy (FFH) as an action selection mechanism. This paper extends BISMARC to include fault tolerance in the sensing and mechanic rover subsystems. The results of simulation studies in a Mars environment are also reported.

关键词： autonomous rovers behavior-based control fault tolerance control hierarchies

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Grid-based framework for sensorial data integration in mobile robots

Grid-based framework for sensorial data integration in mobil...

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conference on sensor fusion and decentralized control in Autonomous robotic systems

作者： Silva, A Menezes, P Dias, J Araujo, H Univ. de Coimbra (Portugal)

ISBN: (纸本)0819426415

This article presents a method to combine data from two sensorial modalities, a stereoscopic vision based sensor and a ring of ultrasonic sensors, in a grid based framework for obstacle detection and avoidance with mobile robots. The sensors' data is combined using Dempster-Shafer theory. This theory allows the combination of multiple sensorial data sources in a way that they are mutually enhanced and validated. A connectionist grid is used to support these operations and the environment modeling. Each grid node maps a configuration in a discrete subset of the robot's configuration space. The process used to obtain obstacle presence information from the stereoscopic setup and ultrasonic sensors is explained in detail. Detected obstacles result in sets of restricted configurations. The grid dynamic behavior allows the iterative computation of a repulsive potential field, which rises in the vicinity of the restricted configurations. As new information is collected by the sensors during the robot's motion so new configurations are marked as restrict and the potential field changes accordingly. Since this process occurs in real time, the computed potential field can he used to navigate the robot avoiding the detected obstacles. Experimental results are presented to support the used sensor models, the integration procedure and the control strategy.

关键词： obstacle detection sensor fusion mobile robot navigation

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Data fusion for 3D object reconstruction

Data fusion for 3D object reconstruction

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conference on sensor fusion amd decentralized control in robotic systems

作者： Mostafa, MGH Yamany, SM Farag, AA Univ Louisville EE Dept Comp Vis & Image Proc Lab Louisville KY 40292 USA

ISBN: (纸本)0819429848

Recently multisensor data fusion has proven its necessity for computer vision and robotics applications. Three-dimensional (3D) scene reconstruction and model building have been greatly improved in systems that employ multiple sensors and/or multiple cues data fusion/integration. In this paper, we present a framework for integrating registered multiple sensory data, sparse range data from laser range finders and dense depth maps of shape from shading from intensity images, for improving the 3D reconstruction of visible surfaces of 3D objects. Two methods are used for data integration and surface reconstruction. In the first method, data are integrated using a local error propagation algorithm, which we have developed in this paper. In the second method, the integration process is carried out using a feedforward neural networks with backpropagation learning rule. It is found that the integration of sparse depth measurements has greatly enhanced the 3D visible surface obtained from shape from shading in terms of metric measurements. We also review the current research in the area of multisensor/multicue data fusion for 3D object reconstructions.

关键词： data fusion computer vision surface reconstruction surface interpolations shape from shading neural networks

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