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检索条件"任意字段=Sensor Fusion and Distributed Robotic Agents"

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Autonomous synthesis of goal-oriented behaviors for planetary robotic sampling

Autonomous synthesis of goal-oriented behaviors for planetar...

引用

Conference on sensor fusion and distributed robotic agents

作者： Lee, SH Schenker, PS Jet Propulsion Lab. and Univ. of Southern California (United States) Jet Propulsion Lab. (United States)

ISBN: (纸本)0819423076

An intelligent robotic architecture that autonomously synthesizes goal-oriented behaviors, while connecting sensing and action in real-time, is presented with applications to loosely defined planetary sampling missions. By the goal-oriented behaviors, we mean sequences of actions generated from automatic task monitoring and replanning toward set goals in the presence of uncertainties as well as errors and faults. This architecture is composed of perception and action nets interconnected in closed loops. The perception net, represented as a hierarchy of features that can be extracted from physical as well as logical sensors, manages uncertainties with sensor fusion, sensor planning, and consistency maintenance. The action net, represented as a hierarchy of state transition in which all the possible system behaviors are embedded, generates robust and fault-tolerant system behaviors with on-line adaptive task monitoring and replanning. The proposed intelligent robotic architecture is significant for autonomous planetary robotic sampling - and related robotic tasks in unstructured environments - that require robust and fault tolerant behaviors due to expected uncertainties as well as errors in sensing, actuation, and environmental constraints. We use a typical Mars planetary sampling scenario to evaluate the proposed architecture: autonomous soil science where a robot arm trenches soil to examine and deposit soil samples to lander based science instrumentation.

关键词： perception net action net intelligent robotic architecture goal-oriented behaviors planetary sampling

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Ultrasonic data fusion as a function of robot velocity

Ultrasonic data fusion as a function of robot velocity

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Conference on sensor fusion and distributed robotic agents

作者： Murphy, RR Gomes, K Hershberger, D Colorado School of Mines (United States)

ISBN: (纸本)0819423076

Occupancy grids are a common representation for mobile robot activities such as obstacle avoidance, map making, localization, and place recognition. An important issue is how to accurately update the grid with new sensor readings rapidly enough to support real-time navigation. The HIMM/VFH methodology works wells for a robot navigating at high speeds, but the algorithms show poor performance at lower speeds in cluttered areas. Our approach to overcoming these deficiencies is twofold. First, Dempster-Shafer theory is used for fusion because it provides a well-understood updating scheme and has been demonstrated to have additional desirable properties. Second, the number of grid elements updated varies as a function of the robot's velocity Experiments using with Clementine, a Denning-Branch MRV4 mobile robot, demonstrate that varying the beam width with the velocity of the robot improves the updating of an occupancy grid using Dempster-Shafer theory versus that of HIMM. Furthermore, the Dempster-Shafer method tends to handle noise better and make smoother and more realistic maps.

关键词： mobile robots occupancy grid map making ultrasonics sensor fusion Dempster-Shafer

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System wide joint position sensor fault tolerance in robot systems using Cartesian accelerometers

System wide joint position sensor fault tolerance in robot s...

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Conference on sensor fusion and distributed robotic agents

作者： Aldridge, HA Juang, JN NASA Langley Research Ctr. (United States)

ISBN: (纸本)0819423076

Joint position sensors ate necessary for most robot control systems. A single position sensor failure in a normal robot system can greatly degrade performance. This paper presents a method to obtain position information from Cartesian accelerometers without integration. Depending on the number and location of the accelerometers, the proposed system can tolerate the loss of multiple position sensors. A solution technique suitable for real-time implementation is presented Simulations were conducted using 5 triaxial accelerometers to recover from the loss of up to 4 joint position sensors on a 7 degree of freedom robot moving in general three dimensional space. The simulations show good estimation performance using non-ideal accelerometer measurements.

关键词： robot control fault tolerance position sensor accelerometer

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Object oriented methods for modular robotic systems

Object oriented methods for modular robotic systems

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sensor fusion and distributed robotic agents

作者： Fryer, James A. McKee, Gerard T. University of Reading Department of Computer Science Reading RG6 6AY United Kingdom

Object orientation has been widely used in the development of robotic systems for its benefits of modularity and reusability. Modular robotics systems are designed to be flexible, reusable, easily extendible sets of robotic resources that may be structured in various fashions to solve tasks. We describe the role of object oriented methods in the development of a modular robotic system and show how such a system supports collaborative working through a networked laboratory environment. We present an architectural framework for modular robotics, which employs and emphasizes object oriented techniques. ©2005 Copyright SPIE - The International Society for Optical Engineering.

关键词： Reusability

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Everywhere-in-focus image fusion using controlablle cameras

Everywhere-in-focus image fusion using controlablle cameras

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sensor fusion and distributed robotic agents

作者： Seales, W. Brent Dutta, Sandeep Department of Computer Science University of Kentucky Lexington KY 40506 United States

Imaging parameters such as focus strongly influence data quality and the performance of content extraction techniques. Narrow depth of field gives clear focus but only over a short range of depths. This paper shows results from an algorithm that uses computer-controlled focus and pan camera movement in order to obtain a scene image that is a composite which is in focus at every point. The goal is to explore the possible algorithms for using both intrinsic (focus) and extrinsic (pan and tilt) camera movements to generate an image sequence and then efficiently obtain a fused composite. ©2005 Copyright SPIE - The International Society for Optical Engineering.

关键词： Image fusion

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Quality-of-service guarantees using positioning information in a wireless distributed environment

Quality-of-service guarantees using positioning information ...

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Conference on sensor fusion and distributed robotic agents

作者： Lumpp, JE Yavatkar, R Griffioen, JN Seales, WB Univ. of Kentucky (United States)

ISBN: (纸本)0819423076

This paper describes a system to support a wireless vision platform moving within a large space spanned by multiple wireless cells. The system offers a cost effective and scalable design for a distributed active vision system consisting of mobile cameras, a compute cluster of high-performance workstations interconnected by a high bandwidth network, and a wireless network divided into distinct cells that connects mobile platforms with the computing cluster. Position information available at the mobile platforms (e.g., via the NAVSTAR global positioning (GPS) system) together with our ''position-aware'' vision algorithms, and routing protocol ensures continuous quality-of-service (QoS) as the mobile platforms move from cell to cell. This paper extends a real-time QoS communication protocol developed in our earlier work(3) to provide continuous quality of service. We also present vision algorithms that minimize the hardware needed on the mobile platforms using the GPS position information and by off-loading computation to the compute cluster.

关键词： active stereo vision focus multimedia protocols wireless communication compressed video

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Point-and-click objective specification for a remote, semiautonomous robot system

Point-and-click objective specification for a remote, semiau...

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Conference on sensor fusion and distributed robotic agents

作者： Seelinger, M GonzalezGalvan, E Skaar, SB Robinson, M Univ. of Notre Dame (United States)

ISBN: (纸本)0819423076

The paper is directed toward describing a practical new means by which a remote user can, with a single image of the object surface of interest, specify objectives of a task which may be described in terms of positioning particular tool junctures relative to user-specified surface points. Also included in the paper is a robust means by which an uncalibrated, remote system - consisting of a manipulator, two or more cameras, and a pan/tilt-mounted laser pointer - may be used to carry out the maneuver with very high precision and reliability. This means is based upon the method of ''camera-space manipulation'', wherewith use is made of a conveniently located but uncalibrated laser pointer. The laser pointer is placed upon an uncalibrated, autonomously actuated, pan/tilt unit, and is used to create the compatible maneuver objectives in participating remote cameras, as required by camera-space manipulation. The paper discusses the range of tasks which should be achievable with the paradigm under discussion, as well as some comparisons between this paradigm and alternatives such as teleoperation and virtual-reality-based approaches. Finally, results from several experimental implementations of the method are presented.

关键词： Cameras Calibration Imaging systems Etching Reliability robotic systems Data modeling Kinematics Computing systems robotics

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Machine perception and intelligent control architecture for multi-robot coordination based on biological principals

Machine perception and intelligent control architecture for ...

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Conference on sensor fusion and distributed robotic agents

作者： Thomopoulos, SCA Braught, G INTELNET Inc. (United States)

ISBN: (纸本)0819423076

Intelligent control, inspired by biological and AI (artificial intelligence) principles, has increased the understanding of controlling complex processes without precise mathematical model of the controlled process. Through customized applications, intelligent control has demonstrated that it is a step in the right direction. However, intelligent control has yet to provide a complete solution to the problem of integrated manufacturing systems via intelligent reconfiguration of the robotics systems. The aim of this paper is to present an intelligent control architecture and design methodology based on biological principles that govern self-organization of autonomous agents. Two key structural elements of the proposed control architecture have been tested individually on key pilot applications and shown promising results. The proposed intelligent control design is inspired by observed individual and collective biological behavior in colonies of living organisms that are capable of self-organization into groups of specialized individuals capable of collectively achieving a set of prescribed or emerging objectives. The nervous and brain system in the proposed control architecture is based on reinforcement learning principles and conditioning and modeled using adaptive neurocontrollers. Mathematical control theory (e.g. optimal control, adaptive control, and neurocontrol) is used to coordinate the interactions of multiple robotics agents.

关键词： robotics Robots Control systems sensors Nervous system Adaptive control Mathematical modeling Process control robotic systems Manufacturing

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distributed microscopy: Toward a 3D computer graphic-based multi user microscopic manipulation, imaging and measurement system

Distributed microscopy: Toward a 3D computer graphic-based m...

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sensor fusion and distributed robotic agents

作者： Sulzmann, Armin Carlier, Jerome Jacot, Jacques CH-1015 Lausanne Switzerland

The aim of this project is to telecontrol the movements in 3D-space of a microscope in order to manipulate and measure microsystems or micro parts aided by multi-user virtual reality (VR) environments. Presently microsystems are gaining in interest. Microsystems are small, independent modules, incorporating various functions, such as electronic, micro mechanical, data processing, optical, chemical, medical and biological functions. Though improving the manufacturing technologies, the measurement of the small structures to insure the quality of the process is a key information for the development. So far to measure the micro structures strong microscopes are needed. The use of highly magnifying computerized microscopes is expensive. To insure high quality measurements and distribute the acquired information to multi-user our proposed system is divided into three parts: the virtual reality microscopic environment (VRME)-based user-interface on a SGI workstation to prepare the manipulations and measurements. Secondly the computerized light microscope with the vision system inspecting the scene and getting the images of the specimen. Newly developed vision algorithms are used to analyze micro structures in the scene corresponding to the known a priori model. This vision is extracting position and shape of the objects and then transmitted as feedback to the user of the VRME-system to update his virtual environment. The internet demon is the third part of the system and distributes the information about the position of the micro structures, their shape and the images to the connected users who themselves may interact with the microscope (turn and displace the specimen on the back of a moving platform, or adding their structures to the scene and compare). The key idea behind our project VRME is to use the intuitiveness and the 3D visualization of VR environments coupled with a vision system to perform measurements of micro structures at a high accuracy. The direct feedback

关键词： Computer vision

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