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Active electrolocation for underwater target localization

INTERNATIONAL JOURNAL OF robotics RESEARCH 2008年第5期27卷 529-548页

作者： Solberg, James R. Lynch, Kevin M. MacIver, Malcolm A. Northwestern Univ Dept Mech Engn RR McCormick Sch Engn & Appl Sci Evanston IL 60208 USA

We explore the capabilities of a robotic sensing system designed to locate objects underwater through active movement of an electric field emitter and sensor apparatus. The system is inspired by the biological phenomenon of active electrolocation, a sensing strategy found in two groups of freshwater fishes known to emit weak electric fields for target localization and communication. An analytical model for the observation of simple targets is used to qualitatively predict some characteristics of the sensor including the detection distance as a function of sensor noise. We characterize the performance of the robot using different automatic electrolocation controllers, objects and water salinities. We demonstrate successful electrolocation both in the conditions in which it is naturally observed (i.e. in low conductivity water) as well as in conditions in which it is not observed (i.e. in water of ocean salinity). For the electrolocation experiments using an active controller based on a probabilistic sensor model, the median positional estimation error for spheres is similar to 3% of sphere diameter. Spheres were detected at distances similar to the distance between the two field electrodes.

关键词： electrolocation particle filter probabilistic robotics electrosense active sensing underwater

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Motion Planning of Mobile Robots in Indoor Topological Environments using Partially Observable Markov Decision Process

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IEEE LATIN AMERICA TRANSACTIONS 2021年第8期19卷 1315-1324页

作者： Monteiro, Neemias Silva Goncalves, Vinicius Mariano Maia, Carlos Andrey Univ Fed Minas Gerais Programa Posgrad Engn Eletr Belo Horizonte MG Brazil Univ Fed Minas Gerais Dept Engn Eletr Belo Horizonte MG Brazil

Deterministic motion planners perform well in simulated environments, where sensors and actuators are perfect. However, these assumptions are restrictive and consequently motion planning will have poor performance if applied to real robotic systems (or a more realistic simulator), as they are inherently fraught with uncertainty. In most real robotic systems, states cannot be directly observed, and the results of the actions performed by the robots are uncertain. Thus, the robot must make use of a new class of planners that take into account system uncertainties when making a decision. In the present work, the Partially Observable Markov Decision Process is presented as an alternative to solve problems immersed in uncertainties, selecting optimal actions aiming to perform a given task. The contribution of this article is to implement the Partially Observable Markov Decision Process using greedy optimization, which has considerably simplified the decision-making problem for uncertain environments. This article also presents new ways to determine the parameters of the Partially Observable Markov Decision Process. The aforementioned tooling was applied in a system to control the actions of a real robot that navigates in a indoor topological living space with ambiguity of informations.

关键词： Markov processes Uncertainty Planning Robot sensing systems Optimization Monitoring Mobile robots Greedy optimization Motion planning probabilistic robotics Uncertainty

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Noise sensitivity of selected kinematic path following controllers for a unicycle

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BULLETIN OF THE POLISH ACADEMY OF SCIENCES-TECHNICAL SCIENCES 2014年第1期62卷 3-13页

作者： Libal, U. Plaskonka, J. Wroclaw Univ Technol Inst Comp Engn Control & Robot PL-50372 Wroclaw Poland

In the paper a path following problem for a wheeled mobile robot of (2,0) type has been considered. The kinematic model of the robot was derived with respect to the Serret-Frenet frame. Two kinematic control algorithms - Samson and Morin-Samson - have been tested taking into account their sensitivity to a white noise with a zero mean appearing in the one of state variables. The properties of path following errors have been analysed using statistical techniques. The conclusions related to an acceptable level of noise and a range of applicability of the presented algorithms have been reached.

关键词： wheeled mobile robots path following Serret-Frenet frame model-based control nonlinear control systems nonholonomic constraints probabilistic robotics

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A path planning strategy for searching the most reliable path in uncertain environments

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INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 2016年第5期13卷 1-9页

作者： Zhang, Botao Liu, Yong Lu, Qiang Wang, Jian Hangzhou Dianzi Univ Inst Automat Hangzhou 310018 Zhejiang Peoples R China

A path planning method for searching the most reliable path in uncertain environments is proposed in this article. When a robot chases a target in a semi-structured workspace with hazards and uncertainty, which path it takes is of great matter as different paths can lead todiverse risks. To "enlighten'' the robot on a wiser choice, a reliability-based topologicalmap is built, in which it is possible to add uncertainty information such as threats and road condition to topological nodes. With this map, the robot is possible to minimize risks in carrying out a target search task. Further simulation and physical-world experiments indicate that the most reliable path method generates a path a bit longer, following which the robot encounters less risks.

关键词： robotics probabilistic robotics target search path planning

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Laser range finder model for autonomous navigation of a robot in a maize field using a particle filter

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COMPUTERS AND ELECTRONICS IN AGRICULTURE 2014年 100卷 41-50页

作者： Hiremath, Santosh A. van der Heijden, Gerie W. A. M. van Evert, Frits K. Stein, Alfred ter Braak, Cajo J. F. Wageningen UR Wageningen Netherlands Plant Res Int Wageningen Netherlands Univ Twente Fac Geo Informat Sci & Earth Observat ITC NL-7500 AE Enschede Netherlands

Autonomous navigation of robots in an agricultural environment is a difficult task due to the inherent uncertainty in the environment. Many existing agricultural robots use computer vision and other sensors to supplement Global Positioning System (GPS) data when navigating. Vision based methods are sensitive to ambient lighting conditions. This is a major disadvantage in an outdoor environment. The current study presents a novel probabilistic sensor model for a 2D range finder (LIDAR) from first principles. Using this sensor model, a particle filter based navigation algorithm (PF) for autonomous navigation in a maize field was developed. The algorithm was tested in various field conditions with varying plant sizes, different row patterns and at several scanning frequencies. Results showed that the Root Mean Squared Error of the robot heading and lateral deviation were equal to 2.4 degrees and 0.04 m, respectively. It was concluded that the performance of the proposed navigation method is robust in a semi-structured agricultural environment. (C) 2013 Elsevier B.V. All rights reserved.

关键词： probabilistic robotics Autonomous navigation Particle filter Laser range finder

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Evaluation of navigation methodologies for mobile robots

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ELEKTROTECHNIK UND INFORMATIONSTECHNIK 2020年第6期137卷 316-323页

作者： Woeber, Wilfried Rauer, Johannes Papa, Maximilian Aburaia, Ali Schwaiger, Simon Novotny, Georg Aburaia, Mohamed Kubinger, Wilfried Fachhsch Technikum Wien Hochstadtpl 6 A-1200 Vienna Austria

Intelligent mobile robots and service robots are central parts of autonomous productions and flexible manufacturing. Interconnected industrial robot-based automation allows customized productions for which mobile robots are used for transport of material and tools. The digital factory of the UAS Technikum Wien is a research project which focuses on experimental evaluation of novel technologies for digital manufacturing. This paper discusses applications of mobile and service robots in the digital factory. Based on a production use case, we analyze several methods for navigation in terms of accuracy of those approaches and discuss safety aspects.

关键词： mobile robotics navigation probabilistic robotics machine learning Industry 4 0

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Reactive-probabilistic hybrid search method for odour source localization in an obstructed environment

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SICE JOURNAL OF CONTROL MEASUREMENT AND SYSTEM INTEGRATION 2024年第1期17卷

作者： Luong, Duc-Nhat Tran, Huu Quoc Dong Kurabayashi, Daisuke Tokyo Inst Technol Sch Engn Dept Syst & Control Engn Tokyo Japan

In odour source localization, the probabilistic inference method effectively manages to find odour plumes, both at the start and during the middle of the search. However, the reactive method is more adept at tracking the odour plumes. Combining two search methods could yield a comprehensive algorithm for odour source detection, particularly effective in obstructed environments where the concurrent tasks of finding and tracking the source are performed interchangeably. In this study, we aim to achieve a balance between the exploration of the probabilistic method and the exploitation of the reactive method by alternating between the two. A switching coefficient is calculated based on burstiness, which measures the periodic characteristics of gas detection. This coefficient determines whether the search agent is within the primary plume flow or outside of it. Based on the determination, the agent decides its next course of action using the probabilistic inference method or the reactive method. We verify and evaluate the proposed method with an autonomous mobile robot in an obstructed indoor environment. Having achieved nearly 10% in distance travelled reduction and more than a 30% decrease in average search time compared to a previously studied Infotaxis-Dijkstra switching algorithm, we can confidently assert the efficiency of the proposed method.

关键词： Odor source localization probabilistic robotics bio-inspired system system integration path planning

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Artificial life and embodied robotics: current issues and future challenges

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ARTIFICIAL LIFE AND robotics 2009年第2期13卷 406-409页

作者： Eaton, Malachy Collins, J. J. Univ Limerick Coll Sci & Engn Dept Comp Sci & Informat Syst Limerick Ireland

In this article we explore some of the issues currently facing researchers in the interface between the twin fields of Artificial Life and robotics, and the challenges and potential synergy of these two areas in the creation of future robotic life forms. There are three strands of research which we feel will be of key importance in the possible development of future embodied artificial life forms. These are the areas of evolutionary robotics and evolutionary humanoid robotics in particular, probabilistic robotics for deliberation, and robot benchmarking with associated metrics and standards. We briefly explore each of these areas in turn, focusing on our current research in each field and what we see as the potential issues and challenges for the future.

关键词： Evolutionary humanoid robotics probabilistic robotics Benchmarking

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Precise assembly of 3D truss structures using MLE-based error prediction and correction

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INTERNATIONAL JOURNAL OF robotics RESEARCH 2015年第13期34卷 1622-1644页

作者： Komendera, Erik Correll, Nikolaus Univ Colorado Dept Comp Sci Boulder CO 80309 USA

We describe a method to construct precise truss structures from non-precise commodity parts. Trusses with precision in the order of micrometers, such as the truss of a space telescope, have previously been built using precisely machined truss connection systems. This approach is expensive, heavy, and prone to failure, e.g. when a single element is lost. In the past, we have proposed a novel concept in which non-precise commodity parts can be aligned using intelligent precision jigging robots and then welded in place. Even when using highly precise sensors and actuators, this approach can still lead to errors due to thermal expansion and structural deformation. In this paper, we describe and evaluate algorithms for generating truss assembly sequences that reduce the expected error by (1) using a heuristic to generate build sequences that reduce the expected variance, and (2) during assembly, estimating the structure's pose using maximum likelihood estimation that combines local measurements by different intelligent precision jigging robots, improves this estimate during loop closures in the construction process, and uses this estimate to correct for errors during construction. We show through simulation and physical experiment that this combined approach reduces assembly error, enabling precision construction with commodity materials. While the model herein is based on truss structures, the proposed methods generalize to a larger class of incremental assembly problems, which exhibit continuous rather than discrete errors.

关键词： Robotic assembly distributed robotics probabilistic robotics maximum likelihood estimation assembly sequence planning

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A Generic Approach to Self-localization and Mapping of Mobile Robots Without Using a Kinematic Model 1

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16th Annual Conference on Towards Autonomous Robotic Systems (TAROS)

作者： Kesper, Patrick Berscheid, Lars Worgotter, Florentin Manoonpong, Poramate Univ Gottingen Inst Phys Biophys 3 D-37077 Gottingen Germany Univ Southern Denmark CBR Embodied AI & Neurorobot Lab Maersk Mc Kinney Moller Inst DK-5230 Odense M Denmark

ISBN: (数字)9783319224169

ISBN: (纸本)9783319224169;9783319224152

In this paper a generic approach to the SLAM (Simultaneous Localization and Mapping) problem is proposed. The approach is based on a probabilistic SLAM algorithm and employs only two portable sensors, an inertial measurement unit (IMU) and a laser range finder (LRF) to estimate the state and environment of a robot. Scan-matching is applied to compensate for noisy IMU measurements. This approach does not require any robot-specific characteristics, e.g. wheel encoders or kinematic models. In principle, this minimal sensory setup can be mounted on different robot systems without major modifications to the underlying algorithms. The sensory setup with the probabilistic algorithm is tested in real-world experiments on two different kinds of robots: a simple two-wheeled robot and the six-legged hexapod AMOSII. The obtained results indicate a successful implementation of the approach and confirm its generic nature. On both robots, the SLAM problem can be solved with reasonable accuracy.

关键词： SLAM Mobile robots Hexapod robot probabilistic robotics Laser range finder Inertial measurement unit

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