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检索条件"主题词=Autonomous robotics"

共 144 条记录，以下是81-90 订阅

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Initial development of HABLA (Hardware Abstraction Layer) -: A middleware software tool

Initial development of HABLA (Hardware Abstraction Layer) -:...

引用

4th International Conference on Informatics in Control, Automation and robotics

作者： Faina, Andres Bellas, Francisco Duro, Richard J. Univ A Coruna Integrated Grp Engn Res Ferrol Spain

ISBN: (纸本)9789728865832

In this work we present the initial implementation of a middleware software tool called the Hardware Abstraction Layer (HABLA). This tool isolates the control architecture of an autonomous computational system, like a robot, from its particular hardware implementation. It is provided with a set of general sensors and typical sensorial processing mechanisms of this kind of autonomous systems allowing for its application to different commercial platforms. This way, the HABLA permits the control designer to focus its work on higher-level tasks minimizing the time spent on the adaptation of the control architecture to different hardware configurations. Another important feature of the HABLA is that both hardware-HABLA and HABLA-control communications take place through standard TCP sockets, permitting the distribution of the computational cost over different computers. In addition, it has been developed in JAVA, so it is platform independent. After presenting the general HABLA diagram and operation structure, we consider a real application using the same deliberative control architecture on two different autonomous robots: an Aibo legged robot and a Pioneer 2Dx wheeled robot.

关键词： middleware software tool control system abstraction autonomous robotics

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Functional Mapping for Human-Robot Collaborative Exploration

Functional Mapping for Human-Robot Collaborative Exploration

引用

IEEE International Symposium on Safety, Security, and Rescue robotics (SSRR)

作者： Keshavdas, Shanker Kruijff, Geert-Jan M. German Res Ctr Artificial Intelligence DFKI Saarbrucken Germany

ISBN: (纸本)9781479901654;9781479901647

The actual structure of a disaster situation is typically unknown. We need to explore it to build up situation awareness, gathering information about structure and the presence of particular objects of interest like victims or threats. If this exploration involves robots, we are dealing with a collaboration between humans and robots, with both as problem-holders. What makes this collaboration complicated is that, from the viewpoint of task-work, there is time-pressure: The exploration needs to be done efficiently, and effectively. From the viewpoint of team-work, the robot needs to perform its tasks together with the human users such that it is apparent to the users why the robot is doing what it is doing. Without that, human users might fail to trust the robot, which can negatively impact overall team performance. In this paper, we present an approach to semantic mapping which aims to address both efficiency (task), and apparency (team). The approach models the environment from a geometrical-functional viewpoint, establishing where the robot needs to be, to be in an optimal position to gather particular information relative to a 3D-landmark in the environment. The approach combines top-down logical and probabilistic inferences about 3D-structure and robot morphology, with bottom-up quantitative maps. The inferences result in vantage positions for information gathering which are optimal in a quantitative sense (effectivity), and which mimic human spatial understanding (apparency). A quantitative evaluation shows that functional mapping leads to significantly better vantage points than a naive approach.

关键词： autonomous robotics Ontology Functional Mapping Semantic Mapping

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Physarum Route Optimization: Bio-inspired Strategies for Mobile Robot Navigation

Physarum Route Optimization: Bio-inspired Strategies for Mob...

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2024 Latin American robotics Symposium

作者： Martinelli, Dieisson de Oliveira, Andre Schneider Kalempa, Vivian Cremer Univ Tecnol Fed Parana UTFPR Grad Program Elect & Comp Engn Curitiba Parana Brazil Univ Estado Santa Catarina UDESC Dept Informat Syst Sao Bento Do Sul Brazil

ISBN: (纸本)9798331508814;9798331508807

The objective of this project is to explore the applicability of a bioinspired approach, derived from the behavior of the Physarum polycephalum fungus, in optimizing trajectory navigation for mobile robot structures. The precise organism Physarum, which has the capability to quick locate efficient paths among factors in complicated environments, serves as a herbal version for constructing inspired trajectory algorithms. In this project, the development of a trajectory set of rules is proposed, that's as compared to conventional trajectory introduction techniques, aiming to introduce a novel approach to cellular robot navigation. This work is presented thru a aggregate of experimental observations and computational simulations that show the effectiveness of this bioinspired approach in trajectory choice. As a end result, an set of rules is developed that mimics the behavior of the Physarum and, similarly to conventional navigation algorithms, paves the manner for research and improvement.

关键词： Bioinspired algorithms autonomous robotics Trajectory optimization Mobile robotic navigation Physarum polycephalum

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Goal-biased Probabilistic Foam Method for robot path planning 18

Goal-biased Probabilistic Foam Method for robot path plannin...

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18th IEEE International Conference on autonomous Robot Systems and Competitions (ICARSC)

作者： Nascimento, Luis B. P. Pereira, Diego S. Alsina, Pablo J. Silva, Mauricio R. Fernandes, Daniel H. S. Roza, Valber C. C. Sanca, Armando S. Fed Univ Rio Grande Norte UFRN Dept Comp Engn & Automat Natal RN Brazil IUL ISCTE Dept Informat Sci & Technol Lisbon Portugal State Univ Feira de Santana Dept Technol Feira De Santana Bahia Brazil

ISBN: (纸本)9781538652213

This paper presents an improved variation of Probabilistic Foam Method (PFM) for robot path planning. In PFM, a structure named probabilistic foam, formed by bubbles propagate through the free space from initial configuration to goal as a breadth-first search, obtaining a collision-free path. Although the method is able to obtain a navigable path, it is computationally expensive. We propose a new foam propagation approach inspired on random tree growth from RRT. Results from simulation experiments using 2D and 3D map show benefits with the new method.

关键词： autonomous robotics path planning collision free path probabilistic foam method bubbles of free-space

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A framework for robot learning during child-robot interaction with human engagement as reward signal 27

A framework for robot learning during child-robot interactio...

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27th IEEE International Symposium on Robot and Human Interactive Communication (IEEE RO-MAN)

作者： Khamassi, M. Chalvatzaki, G. Tsitsimis, T. Velentzas, G. Tzafestas, C. Natl Tech Univ Athens Sch Elect & Comp Engn Athens Greece Sorbonne Univ Inst Intelligent Syst & Robot CNRS Paris France

ISBN: (纸本)9781538679807

Using robots as therapeutic or educational tools for children with autism requires robots to be able to adapt their behavior specifically for each child with whom they interact. In particular, some children may like to be looked into the eyes by the robot while some may not. Some may like a robot with an extroverted behavior while others may prefer a more introverted behavior. Here we present an algorithm to adapt the robot's expressivity parameters of action (mutual gaze duration, hand movement expressivity) in an online manner during the interaction. The reward signal used for learning is based on an estimation of the child's mutual engagement with the robot, measured through non-verbal cues such as the child's gaze and distance from the robot. We first present a pilot joint attention task where children with autism interact with a robot whose level of expressivity is pre-determined to progressively increase, and show results suggesting the need for online adaptation of expressivity. We then present the proposed learning algorithm and some promising simulations in the same task. Altogether, these results suggest a way to enable robot learning based on non-verbal cues and to cope with the high degree of non-stationarities that can occur during interaction with children.

关键词： HRI Reinforcement Learning Active Exploration autonomous robotics Engagement Joint Action

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Simultaneous Localization and Active Phenomenon Inference (SLAPI) 3

Simultaneous Localization and Active Phenomenon Inference (S...

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3rd Annual International Workshop on Self-Supervised Learning (IWSSL)

作者： Georgeon, Olivier L. Vidal, Juan R. Knockaert, Titouan Robertson, Paul Lyon Catholic Univ UCLy UR CONFLUENCE Sci & Humanites EA 1598 Lyon France Univ Claude Bernard Lyon 1 CNRS LIRIS UMR5205 F-69622 Villeurbanne France DOLL Labs Lexington MA USA

We introduce the problem for a robot to localize itself, and, simultaneously, actively infer the existence and properties of phenomena present in its surrounding environment: the SLAPI problem. A phenomenon is a representation of an entity "as the robot experiences it" through interaction. The SLAPI problem relates to the SLAM (simultaneous localization and mapping) problem but differs in that it does not aim at constructing a precise map of the environment, and it can apply to robots with coarse sensors. We demonstrate a SLAPI algorithm to control a robot equipped with omni-directional wheels, an echo-localization sensor, photosensitive sensors, and an inertial measurement unit, but no precise sensors like camera, lidar, or odometry. As the robot circles around an object, it constructs the phenomenon corresponding to this object under the form of the set of the spatially-localized control loops of interaction that the object affords to the robot. SLAPI algorithms could help design companion robots that mimic intrinsic motivation such as curiosity and playfulness. Further studies of the SLAPI problem could improve the scientific understanding of how cognitive beings construct knowledge about objects from sensorimotor experience of interaction.

关键词： Constructivism Active Inference Eaction autonomous robotics SLAM

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Area-Optimized UAV Swarm Network for Search and Rescue Operations 10

Area-Optimized UAV Swarm Network for Search and Rescue Opera...

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10th Annual Computing and Communication Workshop and Conference (CCWC)

作者： Ruetten, Laik Regis, Paulo Alexandre Feil-Seifer, David Sengupta, Shamik Univ Wisconsin Dept Comp Sci La Crosse WI 54601 USA Southeastern Louisiana Univ Dept Comp Sci Hammond LA USA Univ Nevada Comp Sci & Engn Reno NV USA

ISBN: (数字)9781728137834

ISBN: (纸本)9781728137834

Intelligent robot swarms are increasingly being explored as tools for search and rescue missions. Efficient path planning and robust communication networks are critical elements of completing missions. The focus of this research is to give unmanned aerial vehicles (UAVs) the ability to self-organize a mesh network that is optimized for area coverage. The UAVs will be able to read the communication strength between themselves and all the UAVs it is connected to using RSSI. The UAVs should be able to adjust their positioning closer to other UAVs if RSSI is below a threshold, and they should also maintain communication as a group if they move together along a search path. Our approach was to use Genetic Algorithms in a simulated environment to achieve multi-node exploration with emphasis on connectivity and swarm spread.

关键词： UAV networks UAV swarm genetic algorithm search and rescue autonomous robotics

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Animal Acceptance of an autonomous Pasture Sanitation Robot 11th

Animal Acceptance of an Autonomous Pasture Sanitation Robot

引用

11th International Conference on Biomimetic and Biohybrid Systems (Living Machines)

作者： Adams, Ian Quinn, Roger D. Lee, Greg Kroeger, Alexandra Thompson, Rebecca Feuerbacher, Erica Case Western Reserve Univ Dept Mech & Aerosp Engn Cleveland OH 44106 USA Case Western Reserve Univ Dept Elect Engn & Comp Sci Cleveland OH 44106 USA Virginia Tech Dept Anim & Poultry Sci Blacksburg VA 24061 USA

ISBN: (纸本)9783031204692;9783031204708

This work presents the collection and analysis of animal-robot interaction in a pasture setting necessary to support the development of an autonomous platform for maintenance of occupied pastures. Cows (B. taurus) and horses (E. caballus) were introduced to a teleoperated robot platform under differing modes of operation. Animal proximity to the robot, the number of animals that came into contact with the robot, and the frequency of contact with the teleoperated robot platform were recorded. The animal behavior data suggests that cows tend to flee at a regular distance when approached, while horses flee inconsistent distances. Horses showed a higher rate of interaction with the robot. Both species tended to interact with a stationary robot compared to a moving one. Outside of these trends, animal behavior was highly variable and suggests a need to design autonomous robot behaviors/algorithms in which robots should treat pasture inhabitants as unpredictable, but suggests that an autonomous pasture maintenance robot can operate in an occupied pasture.

关键词： autonomous robotics Unmanned ground vehicle Livestock management Sanitation

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Unmanned Aerial Vehicle Formation Flying using Linear Model Predictive Control

Unmanned Aerial Vehicle Formation Flying using Linear Model ...

引用

8th Annual IEEE Systems Conference (SysCon)

作者： Iskandarani, M. Givigi, S. N. Fusina, G. Beaulieu, A. Royal Mil Coll Canada Kingston ON Canada Def Res & Dev Canada Toronto ON Canada

ISBN: (纸本)9781479920860

A team of three Unmanned Aerial Vehicles (UAVs) accomplishes a line abreast, triangular and cross formation based on high-level Linear Model Predictive Control (LMPC). All flight tests respect Reynold's rules of flocking, where the UAVs avoid collisions with nearby flockmates, attempt to match velocity of other team members and attempt to stay close to other flockmates. A linear system identification model is at the base of the error dynamics describing the formation control algorithm. The main contribution of this paper lies in the use of LMPC to implement multiple formations on UAVs in simulation and using the Qball-X4 quadrotor.

关键词： Linear Model Predictive Control Unmanned Aerial Vehicles autonomous robotics Cooperative robotics

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A Mobile Robot Tracking Controller Design and Implementation on ROS-MATLAB based Experiment System 33

A Mobile Robot Tracking Controller Design and Implementation...

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33rd Chinese Control and Decision Conference (CCDC)

作者： Yu, Zhenning Wong, Seng Fat Beijing Normal Univ Zhuhai 519000 Peoples R China Univ Macau Fac Sci & Technol Taipa Macao Peoples R China

ISBN: (纸本)9781665440899

The aim of this paper is solving the problem of an autonomous mobile robot indoor trajectory tracking based on Simultaneous Location And Mapping (SLAM) technique. Faced with the high-cost experiment equipment, this paper introduces a solution via lower-cost hardware. In addition, the system improves mobile robot tracking rate of accuracy by an adaptive controller. Therefore, it can help to rapid development for self-driving industry regarding cost-effectiveness. Similar with a human driver, the adaptive controller optimizes the mobile robot movement based on Lyapunov direct method. In addition, the controller implementation task was finished on a practical low-cost mobile robot, Turtlebot2. In future, the research will focus on a path-planning algorithm when the mobile robot moving on the way and facing with coming obstacles. This technology can be applied to the self-driving car in industry, and improves the feasibility of outdoor automatic logistics.

关键词： Simultaneous Location and Mapping(SLAM) Robot Operation System(ROS) autonomous robotics trajectory tracking Lyapunov direct method

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