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PDA interface for a field robot

PDA interface for a field robot

引用

IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： C. Lundberg C. Barck-Holst J. Folkeson H.I. Christensen Centre for Autonomous Systems Numerical Analysis and Computer Science Royal Institute of Technology Stockholm Sweden

Operating robots in an outdoor setting poses interesting problems in terms of interaction. To interact with the robot there is a need for a flexible computer interface. In this paper a PDA-based (personal digital assistant, i.e. a handheld computer) approach to robot interaction is presented. The system is designed to allow non-expert users to utilise the robot for operation in an urban exploration setup. The basic design is outlined and a first set of experiments are reported.

关键词： Robot sensing systems Personal digital assistants Mobile robots Psychology Human factors Marine vehicles Chemical elements Collision avoidance numerical analysis computer science

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A game theoretic model for management of mobile sensors

A game theoretic model for management of mobile sensors

引用

International Conference on Information Fusion

作者： L. Ronnie M. Johansson Ning Xiong H.I. Christensen Centre for autonomous systems Department of Numerical Analysis and Computer Science Royal Institute of Technology Stockholm Sweden

ISBN: (纸本)0972184449

This paper suggests a framework for multi-sensor multi-target tracking with mobile sensors. Sensors negotiate over which targets to track (possibly sharing targets to benefit from data fusion technology) using a game theory based algorithm. Sensors' preferences over negotiation offers are articulated with individual utility functions which encompass both information gain and directional derivative. An approach to consider terrain effects on mobile sensors is also explained. Simulation results show that the negotiation algorithm has interesting advantages compared to a greedy algorithm that seeks to optimise information gain without consideration to derivatives. We notice that the negotiation procedure forces sensors to share targets, while improving robustness to sensor failure. Sensors also tend to proactively reconsider their target assignments for long-term improved information gain.

关键词： Game theory Sensor systems Target tracking Robustness Resource management Control systems Decision support systems Centralized control Distributed control Intelligent sensors

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Automatic map acquisition for navigation in domestic environments

Automatic map acquisition for navigation in domestic environ...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： P. Althaus H.I. Christensen Centre for Autonomous Systems Numerical Andysis and Computer Science Royal Institute of Technology Stockholm Sweden

An autonomous robot navigating in its environment needs a map representing the large-scale structure of the setting. There are a variety of different types of maps used in mobile robotics: for example, grid maps, maps containing geometrical beacons, or topological maps. Each of those poses its own constraints on the problem of acquiring the map, where its complexity is a major issue. We present a system that is able to build a topological map of large-scale indoor environments in a semi-autonomous way. This means that a person shows the robot around, interacts with it via a basic interface, the platform is following autonomously, and simultaneously creating the map. The acquisition mechanisms are rather simple and computationally inexpensive, due to the low complexity of the topological map. However, experiments show that this map is sufficient to navigate between arbitrary positions in the environment.

关键词： Robot sensing systems Large-scale systems Sonar navigation Mobile robots computer science Robotics and automation Sensor systems Indoor environments Data mining Sonar measurements

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Weak models and cue integration for real-time tracking

Weak models and cue integration for real-time tracking

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： D. Kragic H.I. Christensen Centre for Autonomous Systems Numerical Analysis and Computer Science Royal Institute of Technology Stockholm Sweden Centre for Autonomous Systems Numerical Analysis and Computer Science Royal Institute of Technology Stockholm Sweden

Traditionally, fusion of visual information for tracking has been based on explicit models for uncertainty and integration. Most of the approaches use some form of Bayesian statistics where strong models are employed. We argue that for cases where a large number of visual features are available, weak models for integration may be employed. We analyze integration by voting where two methods are proposed and evaluated: (i) response and (ii) action fusion. The methods differ in the choice of voting space: the former integrates visual information in image space and latter in velocity space. We also evaluate four weighting techniques for integration.

关键词： Voting Bayesian methods Uncertainty Robustness numerical analysis computer science Statistics Focusing Tracking loops Acceleration

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Behaviour coordination for navigation in office environments

Behaviour coordination for navigation in office environments

引用

IEEE/RSJ International Conference on Intelligent Robots and systems

作者： P. Althaus H.I. Christensen Centre for Autonomous Systems Numerical Analysis and Computer Science Royal Institute of Technology Stockholm Sweden

Behaviour coordination is a notorious problem in mobile robotics. Behaviours are either in competition or collaborating to achieve the goals of a system, which leads to requirements for arbitration and/or fusion of control signals. In most systems the arbitration is specified in terms of "events" that denote positions or sensory input. The detection of these events allows discrete switching between groups of behaviours. In contrast, the fusion of behaviours is often achieved using potential fields, fuzzy rules, or superposition. In most cases, the underlying theoretical foundation is rather weak and the behaviour switching results in discrete changes in the overall system dynamics. In this paper, we present a scheme for behaviour coordination that is grounded in the dynamical systems approach. The methodology provides a solid theoretical basis for analysis and design of a behaviour coordination framework. This framework is demonstrated in the context of a domestic robot for fetch-and-carry type tasks. It is here shown that behaviour coordination can be analyzed as an integral part of the design to facilitate smooth transition and fusion between behaviours.

关键词： Navigation Robot kinematics Switches Mobile robots Control systems Solids computer science Robot sensing systems Collaboration Event detection

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Model based techniques for robotic servoing and grasping

Model based techniques for robotic servoing and grasping

引用

IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： D. Kragic H.I. Christensen Centre for Autonomous System Numerical Analysis and Computer Science Royal Institute of Technology Stockholm Sweden

A robotic manipulation of objects typically involves object detection/recognition, servoing to the object, alignment and grasping. To perform fine alignment and final grasping, it is usually necessary to estimate the position and orientation (pose) of the object. In this paper we present a model based tracking system used to estimate and continuously update the pose of the object to be manipulated. Here, a wire-frame model is used to find and track features in the consequent images. One of the important parts of the system is the ability to automatically initiate the tracking process. The strength of the system is the ability to operate in an domestic environment (living room) with changing lighting and background conditions.

关键词： Robots Humans Object detection Robustness Visual servoing numerical analysis computer science Robotics and automation Manufacturing Grasping

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Using the dynamical system approach to navigate in realistic real-world environments

Using the dynamical system approach to navigate in realistic...

引用

IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： P. Althaus H.I. Christensen F. Hoffmann Centre for Autonomous Systems Numerical Analysis and Computer Science Royal Institute of Technology Stockholm Sweden

The dynamical system approach to behaviour based robotics provides a sound mathematical framework to behaviour design and integration. So far this approach has been used in various simulation work and in simple real world settings. This paper is a first step towards application in a more realistic scenario such as a typical office environment. The robot perceives its environment via a set of sonar sensors. Simple geometric representations of the corridor and obstacles are extracted from the perceptual information. Obstacle avoidance and corridor following are implemented as the basic behaviours, which allow the robot to navigate safely through its environment. The robot can reliably distinguish between passages that are either wide enough to pass or too narrow to be traversed. Coordination among the primitive behaviours allows the robot to cope with more complex situations, such as a corridor that is blocked by obstacles, in a flexible manner.

关键词： Robot kinematics Robot sensing systems Sonar navigation numerical analysis computer science Computational modeling Data mining Stability analysis Convergence Shape

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Simultaneous localization and mapping in domestic environments

Simultaneous localization and mapping in domestic environmen...

引用

International Conference on Multisensor Fusion and Integration for Intelligent systems (MFI)

作者： G. Zunino H.I. Christensen Centre for Autonomous Systems Numerical Analysis and Computer Science Kungl Tekniska Högskolan Stockholm Sweden

This paper describes an accurate and robust algorithm for simultaneous localization and map building (SLAM). The objective of SLAM is to enable a mobile robot to build an internal representation (map) of an unexplored environment while simultaneously using that map to navigate. An extended Kalman filter (EKF) approach is used to process the information acquired by the sonar sensors mounted on the robot. A method for recovering from failures of the SLAM algorithm is presented for increasing the robustness of the general EKF method. Real experiments are presented considering a Nomadic SuperScout mobile robot navigating in a domestic environment.

关键词： Simultaneous localization and mapping Sonar navigation Mobile robots Stochastic processes Robot sensing systems Feature extraction numerical analysis computer science Information filtering Information filters

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Tracking techniques for visual servoing tasks

Tracking techniques for visual servoing tasks

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： D. Kragic H.I. Christensen Computer Vision and Active Perception Lab Department of Numerical Analysis and Computing Science Royal Institute of Technology Stockholm Sweden Centre for Autonomous Sys Department of Numerical Analysis and Computing Science Royal Institute of Technology Stockholm Sweden

Many of today's visual servoing systems rely on the use of markers on the object to provide features for control. There is thus a need for a visual system that provides control features regardless of the appearance of the object. Region based tracking is a natural approach since it does not require any special type of features. In this paper we present two different approaches to region based tracking: 1) a multi-resolution gradient based approach (using optical flow); and 2) a discrete feature based search approach. We present experiments conducted with both techniques for different types of image motions. Finally, the performance, drawbacks and limitations of used techniques are discussed.

关键词： Visual servoing Robots Tracking computer vision numerical analysis Control systems Grippers Image motion analysis Motion estimation Visual system

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A person following behaviour for a mobile robot

A person following behaviour for a mobile robot

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： H. Sidenbladh D. Kragic H.I. Christensen Computer Vision and Active Perception Lab Department of Numerical Analysis and Computing Science Royal Institute of Technology Stockholm Sweden Centre for Autonomous Systems Department of Numerical Analysis and Computing Science Royal Institute of Technology Stockholm Sweden

In this paper, a person following behaviour for a mobile robot is presented. The head of the person is located using skin colour detection. Then, a control loop is fed with the camera movements required to put the upper part of the person in the center of the image. The algorithm was tested in different rooms of a research lab. It performed well in all lighting conditions except in direct sunlight. Since the background and lighting cannot be controlled, the vision algorithm must be robust to such changes. However, since the computing power is quite limited, the algorithm must have as low complexity as possible.

关键词： Mobile robots Robot vision systems Cameras computer vision Skin Image motion analysis numerical analysis Lighting control Humans Machine vision

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