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INTERNATIONAL JOURNAL OF robotics RESEARCH 2020年第12期39卷 1367-1376页

作者： Agarwal, Siddharth Vora, Ankit Pandey, Gaurav Williams, Wayne Kourous, Helen McBride, James Ford AV LLC 20000 Rotunda Dr Dearborn MI 48124 USA Ford Motor Co Dearborn MI 48121 USA

This article presents a challenging multi-agent seasonal dataset collected by a fleet of Ford autonomous vehicles (AVs) at different days and times during 2017-2018. The vehicles traversed an average route of 66 km in Michigan that included a mix of driving scenarios such as the Detroit airport, freeways, city centers, university campus, and suburban neighborhoods. Each vehicle used in this data collection was a Ford Fusion outfitted with an Applanix POS-LV GNSS/INS system, four HDL-32E Velodyne 3D-lidar scanners, six Point Grey 1.3 MP cameras arranged on the rooftop for 360 degrees coverage, and one Point Grey 5 MP camera mounted behind the windshield for the forward field of view. We present the seasonal variation in weather, lighting, construction, and traffic conditions experienced in dynamic urban environments. We also include data from multiple AVs that were driven in close proximity. This dataset can help design robust algorithms for AVs and multi-agent systems. Each log in the dataset is time-stamped and contains raw data from all the sensors, calibration values, pose trajectory, ground-truth pose, and 3D maps. All data is available in rosbag format that can be visualized, modified, and applied using the open-source Robot Operating System (ROS). We also provide the output of reflectivity-based localization for bench-marking purposes. The dataset can be freely downloaded at .

关键词： Autonomous agents field and service robotics mobile and distributed robotics SLAM localization mapping sensing and perception computer vision

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Planning and control for microassembly of structures composed of stress-engineered MEMS microrobots

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INTERNATIONAL JOURNAL OF robotics RESEARCH 2013年第2期32卷 218-246页

作者： Donald, Bruce R. Levey, Christopher G. Paprotny, Igor Rus, Daniela Duke Univ Dept Comp Sci Durham NC 27708 USA Duke Univ Dept Biochem Med Ctr Durham NC 27708 USA Duke Univ Med Ctr Duke Inst Brain Sci Durham NC 27708 USA Dartmouth Coll Thayer Sch Engn Hanover NH 03755 USA Univ Calif Berkeley Berkeley Sensor & Actuator Ctr Berkeley CA 94720 USA MIT Dept Elect Engn & Comp Sci Cambridge MA 02139 USA

We present control strategies that implement planar microassembly using groups of stress-engineered MEMS microrobots (MicroStressBots) controlled through a single global control signal. The global control signal couples the motion of the devices, causing the system to be highly underactuated. In order for the robots to assemble into arbitrary planar shapes despite the high degree of underactuation, it is desirable that each robot be independently maneuverable (independently controllable). To achieve independent control, we fabricated robots that behave (move) differently from one another in response to the same global control signal. We harnessed this differentiation to develop assembly control strategies, where the assembly goal is a desired geometric shape that can be obtained by connecting the chassis of individual robots. We derived and experimentally tested assembly plans that command some of the robots to make progress toward the goal, while other robots are constrained to remain in small circular trajectories (orbits) until it is their turn to move into the goal shape. Our control strategies were tested on systems of fabricated MicroStressBots. The robots are 240-280 mu m x 60 mu m x 7-20 mu m in size and move simultaneously within a single operating environment. We demonstrated the feasibility of our control scheme by accurately assembling five different types of planar microstructures.

关键词： micro/nano robots mechanics design and control path planning for multiple mobile robot systems mobile and distributed robotics MEMS underactuated robots

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The distributed Flight Array: Design, implementation, and analysis of a modular vertical take-off and landing vehicle

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INTERNATIONAL JOURNAL OF robotics RESEARCH 2014年第3期33卷 375-400页

作者： Oung, Raymond D'Andrea, Raffaello ETH Inst Dynam Syst & Control CH-8092 Zurich Switzerland

We describe the design and implementation of a modular vertical take-off and landing vehicle, which can be assembled and flown in an unlimited number of arbitrary configurations. This vehicle is intended to be used as a testbed for evaluating distributed estimation and control algorithms. We present the custom hardware, dynamics model, method of state estimation, and a parameterized control strategy capable of controlling any flight-feasible configuration of the vehicle. In terms of the control strategy, we describe a method for optimizing its parameters in order to achieve the best possible performance subject to the system's physical constraints. We then show a straightforward method of mapping the configuration space of our vehicle to the control parameter space. Experimental results are included, demonstrating flight for a variety of configurations both indoors and outdoors.

关键词： networked robots cellular and modular robots Aerial robotics control architectures and programming mobile and distributed robotics

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Self-organized aggregation without computation

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INTERNATIONAL JOURNAL OF robotics RESEARCH 2014年第8期33卷 1145-1161页

作者： Gauci, Melvin Chen, Jianing Li, Wei Dodd, Tony J. Gross, Roderich Univ Sheffield Sheffield Ctr Robot Sheffield S1 3JD S Yorkshire England Univ Sheffield Dept Automat Control & Syst Engn Sheffield S1 3JD S Yorkshire England

This paper presents a solution to the problem of self-organized aggregation of embodied robots that requires no arithmetic computation. The robots have no memory and are equipped with one binary sensor, which informs them whether or not there is another robot in their line of sight. It is proven that the sensor needs to have a sufficiently long range;otherwise aggregation cannot be guaranteed, irrespective of the controller used. The optimal controller is found by performing a grid search over the space of all possible controllers. With this controller, robots rotate on the spot when they perceive another robot, and move backwards along a circular trajectory otherwise. This controller is proven to always aggregate two simultaneously moving robots in finite time, an upper bound for which is provided. Simulations show that the controller also aggregates at least 1000 robots into a single cluster consistently. Moreover, in 30 experiments with 40 physical e-puck robots, 98.6% of the robots aggregated into one cluster. The results obtained have profound implications for the implementation of multi-robot systems at scales where conventional approaches to sensing and information processing are no longer applicable.

关键词： Aggregation line-of-sight sensor minimal information processing mobile and distributed robotics swarm intelligence

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Toward a deeper understanding of motion alternatives via an equivalence relation on local paths

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INTERNATIONAL JOURNAL OF robotics RESEARCH 2012年第2期31卷 167-186页

作者： Knepper, Ross A. Srinivasa, Siddhartha S. Mason, Matthew T. MIT Comp Sci & Artificial Intelligence Lab Cambridge MA 02139 USA Carnegie Mellon Univ Inst Robot Pittsurgh PA USA

Many problems in robot motion planning involve collision testing a set of local paths. In this paper we propose a novel solution to this problem by exploiting the structure of paths and the outcome of previous collision tests. Our approach circumvents expensive collision tests on a given path by detecting that the entire geometry of the path has effectively already been tested on a combination of other paths. We define a homotopy-like equivalence relation among local paths to detect this condition, and we provide algorithms that (1) classify paths based on equivalence, and (2) circumvent collision testing on up to 90% of them. We then prove both correctness and completeness of these algorithms and provide experimental results demonstrating a performance increase up to 300% in the rate of path tests. Additionally, we apply our equivalence relation to the navigation problem in a planning algorithm that takes advantage of information gained from equivalence relationships among collision-free paths. Finally, we explore applications of path equivalence to several other mechanisms, including kinematic chains and medical steerable needles.

关键词： AI reasoning methods cognitive robotics mobile and distributed robotics nonholonomic motion planning path planning for manipulators SLAM

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Experience-based navigation for long-term localisation

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INTERNATIONAL JOURNAL OF robotics RESEARCH 2013年第14期32卷 1645-1661页

作者： Churchill, Winston Newman, Paul Univ Oxford Mobile Robot Grp Oxford OX1 3PJ England

This paper is about long-term navigation in environments whose appearance changes over time, suddenly or gradually. We describe, implement and validate an approach which allows us to incrementally learn a model whose complexity varies naturally in accordance with variation of scene appearance. It allows us to leverage the state of the art in pose estimation to build over many runs, a world model of sufficient richness to allow simple localisation despite a large variation in conditions. As our robot repeatedly traverses its workspace, it accumulates distinct visual experiences that in concert, implicitly represent the scene variation: each experience captures a visual mode. When operating in a previously visited area, we continually try to localise in these previous experiences while simultaneously running an independent vision-based pose estimation system. Failure to localise in a sufficient number of prior experiences indicates an insufficient model of the workspace and instigates the laying down of the live image sequence as a new distinct experience. In this way, over time we can capture the typical time-varying appearance of an environment and the number of experiences required tends to a constant. Although we focus on vision as a primary sensor throughout, the ideas we present here are equally applicable to other sensor modalities. We demonstrate our approach working on a road vehicle operating over a 3-month period at different times of day, in different weather and lighting conditions. We present extensive results analysing different aspects of the system and approach, in total processing over 136,000 frames captured from 37 km of driving.

关键词： Localisation mobile and distributed robotics SLAM mapping field robots field and service robotics

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Autonomous navigation of a humanoid robot over unknown rough terrain using a laser range sensor

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INTERNATIONAL JOURNAL OF robotics RESEARCH 2012年第11期31卷 1251-1262页

作者： Nishiwaki, Koichi Chestnutt, Joel Kagami, Satoshi Natl Inst Adv Ind Sci & Technol Digital Human Res Ctr Koto Ku Tokyo 1350064 Japan Japan Sci & Technol Agcy CREST Tokyo Japan Boston Dynam Inc Boston MA USA

The present paper describes the integration of laser-based perception, footstep planning, and walking control of a humanoid robot for navigation over previously unknown rough terrain. A perception system that obtains the shape of the surrounding environment to an accuracy of a few centimeters is realized based on input obtained using a scanning laser range sensor. A footstep planner decides the sequence of stepping positions using the obtained terrain shape. A walking controller that can cope with a few centimeters of error in terrain shape measurement is achieved by combining the generation of a 40-ms cycle online walking pattern and a ground reaction force controller with sensor feedback. An operational interface was developed to send commands to the robot. A mixed-reality display was adopted to realize an intuitive interface. The navigation system was implemented on the HRP-2, a full-size humanoid robot. The performance of the proposed system for navigation over unknown rough terrain and the accuracy of the terrain shape measurement were investigated through several experiments.

关键词： Humanoid robots human-centered and life-like robots legged robots design and control range sensing sensing and perception computer vision mapping mobile and distributed robotics SLAM

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Autonomous navigation of a humanoid robot over unknown rough terrain using a laser range sensor

Autonomous navigation of a humanoid robot over unknown rough...

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15th International Symposium on robotics Research (ISSR)

关键词： Humanoid robots human-centered and life-like robots legged robots design and control range sensing sensing and perception computer vision mapping mobile and distributed robotics SLAM

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