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2nd International Workshop on Information Processing in Sensor Networks, IPSN 2003

作者： Batalin, Maxim A. Sukhatme, Gaurav S. Robotic Embedded Systems Lab Computer Science Department Center for Robotics and Embedded Systems University of Southern California Los AngelesCA90089 United States

ISBN: (纸本)9783540021117

We consider the problem of coverage and exploration of an unknown dynamic environment using a mobile robot(s). The environment is assumed to be large enough such that constant motion by the robot(s) is needed to cover the environment. We present an efficient minimalist algorithm which assumes that global information is not available (neither a map, nor GPS). Our algorithm deploys a network of radio beacons which assists the robot(s) in coverage. This network is also used for navigation. The deployed network can also be used for applications other than coverage. Simulation experiments are presented which show the collaboration between the deployed network and mobile robot(s) for the tasks of coverage/exploration, network deployment and maintenance (repair), and mobile robot(s) recovery (homing behavior). We present a theoretical basis for our algorithm on graphs and show the results of the simulated scenario experiments. © Springer-Verlag Berlin Heidelberg 2003.

关键词： Mobile robots

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Recent methods for image-based modeling and rendering

Recent methods for image-based modeling and rendering

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IEEE Annual International Symposium Virtual Reality

作者： D. Burschka G.D. Hager Z. Dodds M. Jagersand D. Cobzas K. Yerex Computational Interaction and Robotics Laboratory Johns Hopkins University USA Department of Computer Science Johns Hopkins University USA Department of Computer Science Harvey Mudd College USA Department of Computer Science University of Alberta Canada Virtual Universe Corporation Canada

A long-standing goal in image-based modeling and rendering is to capture a scene from camera images and construct a sufficient model to allow photo-realistic rendering of new views. With the confluence of computer graphics and vision, the combination of research on recovering geometric structure from un-calibrated cameras with modeling and rendering has yielded numerous new methods. Yet, many challenging issues remain to be addressed before a sufficiently general and robust system could be built to (for instance) allow an average user to model their home and garden from camcorder video. This tutorial aims to give researchers and students in computer graphics a working knowledge of relevant theory and techniques covering the steps from real-time vision for tracking and the capture of scene geometry and appearance, to the efficient representation and real-time rendering of image-based models. It also includes hands-on demos of real-time visual tracking, modeling and rendering systems.

关键词： Rendering (computer graphics) computer science Layout Cameras computer graphics Solid modeling computational geometry Real time systems Hardware Robots

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Motion planning for multiple mobile robots using dynamic networks

Motion planning for multiple mobile robots using dynamic net...

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IEEE International Conference on robotics and Automation (ICRA)

作者： C.M. Clark S.M. Rock J.-C. Latombe Aerospace Robotics Lab Department of Aeronautics & Astronautics University of Stanford USA Department of Computer Science University of Stanford USA

A new motion planning framework is presented that enables multiple mobile robots with limited ranges of sensing and communication to maneuver and achieve goals safely in dynamic environments. To combine the respective advantages of centralized and de-centralized planning, this framework is based on the concept of centralized planning within dynamic robot networks. As the robots move in their environment, localized robot groups form networks, within which world models and robot goals can be shared. Whenever a network is formed, new information then becomes available to all robots in this network. With this new information, each robot uses a fast, centralized planner to compute new coordinated trajectories on the fly. Planning over several robot networks is decentralized and distributed. Both simulated and real-robot experiments have validated the approach.

关键词： Motion planning Mobile robots Robot kinematics Robot sensing systems Aerodynamics computational modeling Process planning Aerospace safety Mobile communication Sensor systems

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Motion planning for a three-limbed climbing robot in vertical natural terrain

Motion planning for a three-limbed climbing robot in vertica...

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IEEE International Conference on robotics and Automation (ICRA)

作者： T. Bretl S. Rock J.-C. Latombe Aerospace Robotics Lab Department of Aeronautics and Astronautics University of Stanford Stanford CA USA Robotics Laboratory Computer Science Department University of Stanford Stanford CA USA

This paper presents a general framework for planning the quasi-static motion of a three-limbed climbing robot in vertical natural terrain. The problem is to generate a sequence of continuous one-step motions between consecutive holds that will allow the robot to reach a particular goal hold. A detailed algorithm is presented to compute a one-step motion considering the equilibrium constraint only. The overall framework combines this local planner with a heuristic search technique to generate a complete plan. An online implementation of the algorithm is demonstrated in simulation.

关键词： Motion planning Climbing robots Humans Military computing Orbital robotics computational modeling Algorithm design and analysis Magnets Magnetic properties Ducts

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A Tale of Two Helicopters

A Tale of Two Helicopters

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2003 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Saripalli, Srikanth Roberts, Jonathan M. Corke, Peter I. Buskey, Gregg Sukhatme, Gaurav S. Robotics Research Lab. Department of Computer Science University of Southern California Los Angeles United States CSIRO Mfg./Infrastructure Technology PO Box 883 Kenmore QLD 4069 Australia University of Queensland St. Lucia QLD 4066 Australia

This paper discusses similarities and differences in autonomous helicopters developed at USC and CSIRO. The most significant differences are in the accuracy and sample rate of the sensor systems used for control. The USC vehicle, like a number of others, makes use of a sensor suite that costs an order of magnitude more than the vehicle. The CSIRO system, by contrast, utilizes low-cost inertial, magnetic, vision and GPS to achieve the same ends. We describe the architecture of both autonomous helicopters, discuss the design issues and present comparative results.

关键词： Helicopters

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Adaptive visual servoing in the presence of intrinsic calibration uncertainty

Adaptive visual servoing in the presence of intrinsic calibr...

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IEEE Conference on Decision and Control

作者： J. Chen A. Behal D.M. Dawson W.E. Dixon Department of Electrical & Computer Engineering Clemson University Clemson SC USA Department of Electrical & Computer Engineering Clemson University Clemson SC Eng. Science and Tech. Div. - Robotics Oak Ridge Natioanl Lab. Oak Ridge TN

In this paper, we design an adaptive kinematic controller that asymptotically regulates a robot end-effector to a desired position and orientation under visual feedback (of points located on a fixed reference frame) from a camera mounted on the end-effector. This task is accomplished despite lack of depth measurements as well as uncertainty in the camera intrinsic parameter matrix.

关键词： Visual servoing Calibration Uncertainty Cameras Robots Adaptive control Kinematics Programmable control Servomechanisms Robust control

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A tale of two helicopters

A tale of two helicopters

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： S. Saripalli J.M. Roberts P.I. Corke G. Buskey G.S. Sukhatme Robotics Research Lab Department of Computer Science University of Southern California Los Angeles USA CSIRO Manufacturing and Infrastructure Technology Kenmore QLD Australia University of Queensland Saint Lucia QLD Australia

关键词： Helicopters Costs State estimation Sensor systems Remotely operated vehicles Magnetic sensors Motion estimation Control systems Global Positioning System Stereo vision

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GA Optimized Sliding Mode Control of a Mobile Robot

GA Optimized Sliding Mode Control of a Mobile Robot

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2003年中国智能自动化会议

作者： Simon X．Yang Peter X．Liu Advanced Robotics and Intelligent Systems(ARIS)Lab School of Engineering University of Guelph Guelph ON N1G 2W1 Canada Department of Systems and Computer Engineering Carleton University Ottawa Canada K1S 5B6 School of Computer Science University of Windsor Windsor ON N9B 3P4 Canada

Due to the nonholonomic constraint and restricted mobility, the design of stabilizing control laws for a mobile is a challenging problem. Sliding mode control is a robust design methodology based on a sliding surface and a Lyapunov's stability theorem, where the system uncertainties and external disturbances can be handled under the invariance characteristics of system's sliding condition with guaranteed system stability. In this paper, a genetic algorithm is used to optimize the parameters in sliding mode controller for a nonholonomic mobile robot. The effectiveness of the proposed GA based sliding model controller is demonstrated by simulation studies.

关键词： Mobile GA Optimized Sliding Mode Control of a Mobile Robot

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Using intrinsic images for shadow handling 5

Using intrinsic images for shadow handling

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5th IEEE International Conference on Intelligent Transportation Systems, ITSC 2002

作者： Martin, Robert F.K. Masoud, Osama Papanikolopoulos, Nikolaos Department of Computer Science and Engineering Artificial Intelligence Vision and Robotics Lab University of Minnesota United States

ISBN: (纸本)0780373898

The ability to detect shadows Is a critical feature of any Intelligent transportation system (ITS). The Improper handling of shadows can be the cause of erroneous conclusions in traffic analysis. Because vision-based ITS applications are becoming more popular, It la Important to minimize the fillets of shadows. Here, we present a novel method for shadow handling in a sequences of Images, fallowing recent work motivated by studies of the statistics of natural Images, we show that this new method Is a reliable detector of shadows and can be easily Implemented In real time. © 2002 IEEE.

关键词： Intelligent systems

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A constraint-based robotic soccer team

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Constraints 2002年第1期7卷 7-28页

作者： Zhang, Yu Mackworth, Alan K. Lab. for Computational Intelligence Department of Computer Science University of British Columbia Vancouver BC V6T 1Z4 Canada

It is a challenging task for a team of multiple fast-moving robots to cooperate with each other and to compete with another team in a dynamic, real-time environment. For a robot team to play soccer successfully, various technologies have to be incorporated including robotic architecture, multi-agent collaboration and real-time reasoning. A robot is an integrated system, with a controller embedded in its plant. A robotic system is the coupling of a robot to its environment. Robotic systems are, in general, hybrid dynamic systems, consisting of continuous, discrete and event-driven components. Constraint Nets (CN) provide a semantic model for modeling hybrid dynamic systems. Controllers are embedded constraint solvers that solve constraints in real-time. A controller for our robot soccer team, UBC Dynamo98, has been modeled in CN, and implemented in Java, using the Java Beans architecture. A coach program using an evolutionary algorithm has also been designed and implemented to adjust the weights of the constraints and other parameters in the controller. The results demonstrate that the formal CN approach is a practical tool for designing and implementing controllers for robots in multi-agent real-time environments. They also demonstrate the effectiveness of applying the evolutionary algorithm to the CN-modeled controllers.

关键词： robotics

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