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Understanding, Uncertainty and Robot Task Execution

IFAC Proceedings Volumes 1985年第16期18卷 331-335页

作者： R.B. Kelly S. Bonner Robotics and Automation Laboratory. Department of Electrical Computer and Systems Engineering Renssclacr Politechnic Institute. Troy NY 12180-3590. USA

Fundamental factors limiting the widespread application of current robotic systems are the requirements for precise control of the robot task environment, custom-designed fixtures and end-effectors, and on-site control program development. These requirements arise because current robotic systems do not have an understanding of the robot task environment. Further, these systems are not able to react intelligently to non-deterministic events which occur during task execution. This paper examines the nature of understanding and its use to resolve uncertainty as it relates to robot task execution. Then a research plan which is aimed at the systematic incorporation of understanding into the robot task environment is outlined.

关键词： Advanced automation machine intelligence robot system programming robot task planning

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On Simplification Of Robot Arm Dynamic Equation

On Simplification Of Robot Arm Dynamic Equation

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Asilomar Conference on Signals, Systems & computers

作者： T.C. Hsia G.Z. Lu Robotics Research Laboratory Department of Electrical and computer Engineering University of California Davis CA USA Department of Computer and System Science Nankai University Tianjin China

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On The Control of Mechanical Manipulators 1

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IFAC Proceedings Volumes 1982年第4期15卷 1629-1634页

作者： С.S.G. Lee M.J. Chung J.L. Turney T.N. Mudge Robotics Research Laboratory Department of Electrical and Computer Engineering The University of Michigan Ann Arbor Michigan USA

The dynamic performance of computer-controlled manipulators is directly linked to the formulation of the dynamic model of manipulators and its corresponding control law. Several approaches are available in formulating the dynamic models of mechanical manipulators and most notably of these are the Lagrange-Euler and the Newton-Euler formulations. This paper describes an efficient position plus derivative control in joint space for a PUMA robot arm whose dynamic equations of motion are formulated by the Newton-Euler method. The controller compensates the inertia loading, the nonlinear coupling reaction forces between joints and the gravity loading effects. Using a PDP 11-/45 computer the controller equation can be computed in 3 ms which is sufficient for real-time control. computer simulation of the performance of the control law is included for discussion.

关键词： Digital control Robots Controllers Manipulation Nonlinear control systems

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Planning and Decision-Making for Autonomous Vehicles

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Control, robotics, and Autonomous Systems 1000年第1期1卷 187-210页

作者： Wilko Schwarting Javier Alonso-Mora Daniela Rus 1Computer Science and Artificial Intelligence Laboratory Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology Cambridge Massachusetts 02139 USA email: wilkos@csail.mit.edu rus@csail.mit.edu 2Department of Cognitive Robotics Delft University of Technology 2628 Delft The Netherlands email: j.alonsomora@tudelft.nl

In this review, we provide an overview of emerging trends and challenges in the field of intelligent and autonomous, or self-driving, vehicles. Recent advances in the field of perception, planning, and decision-making for autonomous vehicles have led to great improvements in functional capabilities, with several prototypes already driving on our roads and streets. Yet challenges remain regarding guaranteed performance and safety under all driving circumstances. For instance, planning methods that provide safe and system-compliant performance in complex, cluttered environments while modeling the uncertain interaction with other traffic participants are required. Furthermore, new paradigms, such as interactive planning and end-to-end learning, open up questions regarding safety and reliability that need to be addressed. In this survey, we emphasize recent approaches for integrated perception and planning and for behavior-aware planning, many of which rely on machine learning. This raises the question of verification and safety, which we also touch upon. Finally, we discuss the state of the art and remaining challenges for managing fleets of autonomous vehicles.

关键词： autonomous vehicles intelligent vehicles decision-making motion planning artificial intelligence verification fleet management

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RoboCup 2011: Robot Soccer World Cup XV 1

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丛书名： Lecture Notes in computer Science

1000年

作者： Thomas Röfer N. Michael Mayer Jesus Savage Uluc̨ Saranlı

ISBN: (数字)9783642320606

ISBN: (纸本)9783642320590

This book includes the thoroughly refereed post-conference proceedings of the 15th Annual RoboCup International Symposium, held in Istanbul, Turkey, in July 2011. The 12 revised papers and 32 poster presentation presented were carefully reviewed and selected from 97 submissions. The papers are orginazed on topical sections on robot hardware and software, perception and action, robotic cognition and learning, multi-robot systems, human-robot interaction, education and edutainment and applications.

关键词： Artificial Intelligence computer Communication Networks User Interfaces and Human computer Interaction Software engineering robotics and Automation Image Processing and computer Vision

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Advances in robotics 1

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丛书名： Lecture Notes in computer Science

1000年

作者： Jong-Hwan Kim Shuzhi Sam Ge Prahlad Vadakkepat Abdullah Al Manum Norbert Jesse Sadasivan Puthusserypady K Ulrich Rückert Joaquin Sitte Ulf Witkowski Ryohei Nakatsu Jacky Baltes John Anderson Igor Verner

ISBN: (数字)9783642039836

ISBN: (纸本)9783642039829

th This volume is an edition of the papers selected from the 12 FIRA RoboWorld C- gress, held in Incheon, Korea, August 16–18, 2009. The Federation of International Robosoccer Association (FIRA – www. fira. net) is a non-profit organization, which organizes robotic competitions and meetings around the globe annually. The RoboSoccer competitions started in 1996 and FIRA was - tablished on June 5, 1997. The Robot Soccer competitions are aimed at promoting the spirit of science and technology to the younger generation. The congress is a forum in which to share ideas and future directions of technologies, and to enlarge the human networks in robotics area. The objectives of the FIRA Cup and Congress are to explore the technical dev- opment and achievement in the field of robotics, and provide participants with a robot festival including technical presentations, robot soccer competitions and exhibits - der the theme “Where Theory and Practice Meet. ” th Under the umbrella of the 12 FIRA RoboWorld Congress Incheon 2009, six int- national conferences were held for greater impact and scientific exchange: th • 6 International Conference on Computational Intelligence, robotics and Autonomous Systems (CIRAS) th • 5 International Symposium on Autonomous Minirobots for Research and Edutainment (AMiRE) • International Conference on Social robotics (ICSR) • International Conference on Advanced Humanoid robotics Research (ICAHRR) • International Conference on Entertainment robotics (ICER) • International robotics Education Forum (IREF) This volume consists of selected quality papers from the six conferences.

关键词： Artificial Intelligence User Interfaces and Human computer Interaction computers and Society computers and Education Personal Computing computer Appl. in Social and Behavioral Sciences

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Modular Reconfigurable robotics

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Control, robotics, and Autonomous Systems 1000年第1期2卷 63-88页

作者： Jungwon Seo Jamie Paik Mark Yim 1Department of Mechanical and Aerospace Engineering and Department of Electronic and Computer Engineering The Hong Kong University of Science and Technology Hong Kong China email: junseo@ust.hk 2Reconfigurable Robotics Laboratory École Polytechnique Fédérale de Lausanne (EPFL) 1015 Lausanne Switzerland email: jamie.paik@epfl.ch 3General Robotics Automation Sensing and Perception (GRASP) Laboratory University of Pennsylvania Philadelphia Pennsylvania 19104 USA email: yim@seas.upenn.edu

This article reviews the current state of the art in the development of modular reconfigurable robot (MRR) systems and suggests promising future research directions. A wide variety of MRR systems have been presented to date, and these robots promise to be versatile, robust, and low cost compared with other conventional robot systems. MRR systems thus have the potential to outperform traditional systems with a fixed morphology when carrying out tasks that require a high level of flexibility. We begin by introducing the taxonomy of MRRs based on their hardware architecture. We then examine recent progress in the hardware and the software technologies for MRRs, along with remaining technical issues. We conclude with a discussion of open challenges and future research directions.

关键词： cellular and modular robots distributed robot systems multirobot systems reconfigurable robots

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Manufacturing Systems Control Design 1

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丛书名： Advances in Industrial Control

1000年

作者： Stjepan Bogdan Zdenko Kovačić Frank L. Lewis José Mireles

ISBN: (数字)9781846283345

ISBN: (纸本)9781852339821;9781849969895

The series Advances in Industrial Control aims to report and encourage technology transfer in control engineering. The rapid development of control technology has an impact on all areas of the control discipline. New theory, new controllers, actuators, sensors, new industrial processes, computer methods, new applications, new philosophies , new challenges. Much of this development work resides in industrial reports, feasibility study papers and the reports of advanced collaborative projects. The series offers an opportunity for researchers to present an extended exposition of such new work in all aspects of industrial control for wider and rapid dissemination. In some areas of manufacturing, the elements of a flexible manufacturing system form the key components of the process line. These key components are four-fold: a set of programmable robots and machines, an automated materia- handling system that allows parts to be freely routed and re-routed, a buffer storage system where parts and partly-assembled components can wait until required for further processing and assembly and finally, a supervisory control system. The technology employed to coordinate and control all these components as a working system is usually based on programmable logic controllers. The use of this automation hardware and software in manufacturing is designed to yield significant cost reductions and to enhance quality.

关键词： Control and Systems Theory Industrial and Production engineering Manufacturing, Machines, Tools, Processes Simulation and Modeling Linear and Multilinear Algebras, Matrix Theory Industrial Organization

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Simulation, Modeling, and Programming for Autonomous Robots 1

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丛书名： Lecture Notes in computer Science

1000年

作者： Davide Brugali Jan F. Broenink Torsten Kroeger Bruce A. MacDonald

ISBN: (数字)9783319119007

ISBN: (纸本)9783319118994

This book constitutes the refereed proceedings of the 4th International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2014, held in Bergamo, Italy, in October 2014.;The 49 revised full papers presented were carefully reviewed and selected from 62 submissions. The papers are organized in topical sections on simulation, modeling, programming, architectures, methods and tools, and systems and applications.

关键词： Artificial Intelligence Simulation and Modeling User Interfaces and Human computer Interaction Computation by Abstract Devices computer Communication Networks Software engineering

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Advances in Neuro-Information Processing 1

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丛书名： Lecture Notes in computer Science

1000年

作者： Mario Köppen Nikola Kasabov George Coghill

ISBN: (数字)9783642024900

ISBN: (纸本)9783642024894

The two volume set LNCS 5506 and LNCS 5507 constitutes the thoroughly refereed post-conference proceedings of the 15th International Conference on Neural Information Processing, ICONIP 2008, held in Auckland, New Zealand, in November 2008. The 260 revised full papers presented were carefully reviewed and selected from numerous ordinary paper submissions and 15 special organized sessions. 116 papers are published in the first volume and 112 in the second volume. The contributions deal with topics in the areas of data mining methods for cybersecurity, computational models and their applications to machine learning and pattern recognition, lifelong incremental learning for intelligent systems, application of intelligent methods in ecological informatics, pattern recognition from real-world information by svm and other sophisticated techniques, dynamics of neural networks, recent advances in brain-inspired technologies for robotics, neural information processing in cooperative multi-robot systems.

关键词： computer Communication Networks Computation by Abstract Devices Artificial Intelligence Models and Principles Special Purpose and Application-Based Systems Simulation and Modeling

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