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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Luís Almeida Bruno Patrão Paulo Menezes Jorge Dias Institute of Systems and Robotics University of Coimbra Coimbra Portugal Instituto Politécnico de Tomar Tomar Portugal Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal Khalifa University of Science Technology and Research (KUSTAR) Abu Dhabi UAE

This paper proposes a new interaction mechanism for tele-operating a mobile robot. The approach explores the notion of telepresence and physical embodiment to create what may be called tele-embodiment. Its principle is that the operator will see himself at the remote site and this will enable him/her to better operate the robot. Four interaction styles were experimentally compared, from the traditional joystick approaches to more innovative based on natural body posture intentions. The environment perception is provided by the visual feedback, according to head pose behaviour. The results show that the gesture and body based methods improves the user dexterity performing this kind of task. Moreover, the present study suggests that, when a person is focused on the task, achieving the ownership illusion towards remote body, there are autonomic responses that correspond to what would be expected in events that take place in reality (like avoiding collisions).

关键词： Cameras Robot vision systems Visualization Robot motion Robot kinematics

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Five years of SSL-vision - Impact and development 1

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17th RoboCup International Symposium, RoboCup 2013

作者： Zickler, Stefan Laue, Tim Gurzoni Jr., José Angelo Birbach, Oliver Biswas, Joydeep Veloso, Manuela IRobot Corp. 8 Crosby Dr. Bedford MA 01730 United States Cyber-Physical Systems Deutsches Forschungszentrum für Künstliche Intelligenz GmbH Enrique-Schmidt-Str. 5 28359 Bremen Germany AI and Robotics Lab. Centro Universitário da FEI Av. Humberto A.C. Branco 3972 S. Bernardo do-Campo SP 09850 Brazil Robotics Institute Computer Science Department Carnegie Mellon University 5000 Forbes Ave. Pittsburgh PA 15213 United States

ISBN: (数字)9783662444689

ISBN: (纸本)9783662444672

Since its start in 1997, the setup of the RoboCup Small Size Robot League (SSL) enabled teams to use their own cameras and vision algorithms. In the fast and highly dynamic SSL environment, researchers achieved significant algorithmic advances in real-time complex colored-pattern based perception. Some teams reached, published, and shared effective solutions, but for new teams, vision processing has still been a heavy investment. In addition, it became an organizational burden to handle the multiple cameras from all the teams. Therefore, in 2008, the league started the development of a centralized, shared vision system, called SSL-Vision, which would be provided for all teams. In this paper, we discuss this system's successful implementation in SSL itself, but also beyond it in other domains. SSL-Vision is an open source system available to any researcher interested in processing colored patterns from static cameras. © 2014 Springer-Verlag Berlin Heidelberg.

关键词： Cameras

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Mining incomplete data-a rough set approach

Smart Innovation, Systems and Technologies

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Smart Innovation, systems and Technologies 2013年 13卷 49-74页

作者： Grzymala-Busse, Jerzy W. Hippe, Zdzislaw S. Department of Electrical Engineering and Computer Science University of Kansas Lawrence KS 66045 United States Institute of Computer Science Polish Academy of Sciences 01-237 Warsaw Poland Department of Expert Systems and Artificial Intelligence University of Information Technology and Management 35-225 Rzeszow Poland

ISBN: (纸本)9783642286988

Real-life data sets are frequently affected by missing attribute values. Such missing attribute values may be interpreted as lost values, "do-not care" conditions, a special case of "do-not care" conditions called restricted "donot care" conditions, or as attribute-concept values. In general, incomplete data are described by characteristic relations, a generalization of the indiscernibility relation. A methodology of mining incomplete data is provided and illustrated by examples. In particular, two versions of the MLEM2 system, global and local, are presented. In the MLEM2 global version approximations are computed first and then the rule induction algorithm is applied. In the local version of MLEM2, rule sets are induced directly fromrawdata sets, incomplete andwith numerical attributes. Results of experiments on both approaches are included. © Springer-Verlag Berlin Heidelberg 2013.

关键词： Approximation algorithms

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Flexible triangular formation keeping of marine robotic vehicles using range measurements 1

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IFAC Proceedings Volumes 2014年第3期47卷 5145-5150页

作者： Francisco Rego Jorge M. Soares António Pascoal A. Pedro Aguiar Colin Jones Laboratory of Robotics and Systems in Engineering and Science Instituto Superior Técnico University of Lisbon Lisbon Portugal Department of Electrical and Computer Engineering Faculty of Engineering University of Porto Porto Portugal Institute of Mechanical Engineering School of Engineering École Polytechnique Fédérale de Lausanne Lausanne Switzerland Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering École Polytechnique Fédérale de Lausanne Lausanne Switzerland National Institute of Oceanography Dona Paula Goa India

This paper addresses the problem of keeping an autonomous marine vehicle in a moving triangular formation by regulating its position with respect to two leader vehicles. The follower vehicle has no prior knowledge of the path described by the leaders but has access to their heading angle and is able to measure inter-vehicle ranges. It is assumed that the distance between the leaders is constant and known. A control strategy is adopted that generates speed and heading commands so as to drive suitably defined along track and cross track errors to zero. The commands are used as input to local inner loops for yaw and speed control. The paper describes the algorithms derived for range-based control and assesses their performance in simulations using realistic models of the vehicles involved. Tests with three autonomous marine vehicles equipped with acoustic modems and ranging devices allow for the evaluation of the performance of the algorithms in a real-world situation.

关键词： Autonomous Vehicles Marine systems Control Laws Formation Control Station Keeping Triangular Formations

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Social Adaptation of Robots for Modulating Self-Organization in Animal Societies

Social Adaptation of Robots for Modulating Self-Organization...

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IEEE International Conference on Self-Adaptive and Self-Organizing systems Workshops, SASOW

作者： Payam Zahadat Michael Bodi Ziad Salem Frank Bonnet Marcelo Elias De Oliveira Francesco Mondada Karlo Griparic Tomislav Haus Stjepan Bogdan Rob Mills Pedro Mariano Luis Correia Olga Kernbach Serge Kernbach Thomas Schmickl Artificial Life Laboratory of the Department of Zoology Karl-Franzens University Graz Austria Computer Engineering Department Aleppo University Syrian Arab Republic Rbotic Systems Laboratory Swiss Federal Institute of Technology (EPFL) Lausanne Switzerland Ecole Polytechnique Federale de Lausanne Lausanne VD CH Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Zagreb Croatia Universidade de Lisboa Lisboa Lisboa PT Cybertronica Research Research Center of Advanced Robotics and Environmental Science Stuttgart Germany

The goal of the work presented here is to influence the overall behaviour of specific animal societies by integrating computational mechatronic devices (robots) into those societies. To do so, these devices should be accepted by the animals aspart of the society and/or as part of the collectively formed environment. For that, we have developed two sets of robotic hardware for integrating into societies of two different animals: zebra fish and young honeybees. We also developed mechanisms to provide feedback from the behaviours of societies for the controllers of the robotic system. Two different computational methods are then used as the controllers of the robots in simulation and successfully adapted by evolutionary algorithms to influence the simulated animals for desired behaviours. Together, these advances in mechatronic hardware, feedback mechanisms, and controller methodology are laying essential foundations to facilitate experiments on modulating self-organised behaviour in mixed animal -- robot societies.

关键词： Animals Heating Vibrations Robot sensing systems Hardware Biochemistry

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Darwinian Robotic Swarms for exploration with minimal communication

Darwinian Robotic Swarms for exploration with minimal commun...

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2013 IEEE Congress on Evolutionary Computation, CEC 2013

作者： Couceiro, Micael S. Rocha, Rui P. Ferreira, Nuno M. F. Vargas, Patricia A. Institute of Systems and Robotics University of Coimbra Coimbra Portugal RoboCorp Department of Electrical Engineering Engineering Institute of Coimbra Coimbra Portugal Robotics Laboratory School of Mathematical and Computer Science Heriot-Watt University Edinburgh United Kingdom

ISBN: (纸本)9781479904549

The Robotic Darwinian Particle Swarm Optimization (RDPSO) recently introduced in the literature has the ability to dynamically partition the whole population of robots based on simple 'punish-reward' rules. Although this evolutionary algorithm enables the reduction of the amount of required information exchange among robots, a further analysis on the communication complexity of the RDPSO needs to be carried out so as to evaluate its scalability. This paper analyses the architecture of the RDPSO communication system, thus describing the dynamics of the communication data packet structure shared between teammates. Moreover, a set of simple communication rules is also proposed in order to reduce the communication overhead within swarms of robots. Experimental results with teams of 15 real robots show that the proposed methodology reduces the communication overhead, thus improving the scalability and applicability of the RDPSO algorithm. © 2013 IEEE.

关键词： Swarm intelligence

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Power-optimized stiffness and nonlinear position control of an actuator with Variable Torsion Stiffness

Power-optimized stiffness and nonlinear position control of ...

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2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013

作者： Beckerle, P. Wojtusch, J. Schuy, J. Strah, B. Rinderknecht, S. Stryk, O.V. Institute for Mechatronic Systems Department of Mechanical Engineering Technische Universität Darmstadt Darmstadt Germany Simulation Systems Optimization and Robotics Group Department of Computer Science Technische Universität Darmstadt Darmstadt Germany

ISBN: (纸本)9781467353199

Introducing compliant actuation to robotic joints is an approach to ensure safety in closer human-machine interaction. Further, the possibility to adjust stiffness can be benificial considering energy storage and the power consumption required to track certain trajectories. The subject of this paper is the stiffness and position control of the Variable Torsion Stiffness (VTS) actuator for application in compliant robotic joints. For the realization of a variable rotational stiffness, the active length of a torsional elastic element in serial configuration between drive and link is adjusted in VTS. After the deduction of an extended drive train model, this paper gives an advanced power analysis clarifying power-optimal settings from previous basic models and identifying additional settings that allow for a more versatile operation. Based on these results that can be generalized to other variable elastic actuator concepts, an optimized strategy for setting stiffness is determined considering the whole system dynamics including natural frequencies as well as antiresonance effects. For position control of VTS in a prototypical implementation, a nonlinear position controller is designed by means of feedback linearization. Although the system is modified significantly by changing drive train stiffness, the stiffness adaptation of the controller ensures the required tracking performance. © 2013 IEEE.

关键词： Stiffness

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Sensor-based globally asymptotically stable range-only simultaneous localization and mapping

Sensor-based globally asymptotically stable range-only simul...

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52nd IEEE Conference on Decision and Control, CDC 2013

作者： Lourenço, Pedro Batista, Pedro Oliveira, Paulo Silvestre, Carlos Philip Chen, C.L. Institute for Systems and Robotics Universidade de Lisboa Av. Rovisco Pais 1049-001 Lisboa Portugal Department of Electrical and Computer Engineering Faculty of Science and Technology University of Macau China

ISBN: (纸本)9781467357173

Range-only simultaneous localization and mapping is addressed in this paper, through the design, analysis, and experimental validation of a globally asymptotically stable (GAS) filter. A nonlinear sensor-based system is designed and its dynamics augmented so that the proposed formulation can be considered as linear time-varying for the purpose of observability analysis. This allows the establishment of observability results related to the original nonlinear system that naturally lead to the design of a Kalman filter with GAS error dynamics. The performance of the proposed algorithm is assessed resorting to a set of realistic simulations and to the results obtained from experimental tests. © 2013 IEEE.

关键词： Observability

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GAS Decentralized Navigation Filters in a Continuous-Discrete Fixed Topology Framework

GAS Decentralized Navigation Filters in a Continuous-Discret...

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Mediterranean Conference on Control & Automation

作者： Daniel Viegas Pedro Batista Paulo Oliveira Carlos Silvestre Institute for Systems and Robotics Instituto Superior Tecnico Institute for Systems and Robotics and the Department of Electrical and Computer Engineering Faculty of Science and Technology University of Macau

ISBN: (纸本)9781479909964

This paper addresses the problem of state estimation in formations of autonomous vehicles. The approach considered here consists in the implementation of a local state observer in each vehicle relying only on locally available measurements and data communicated by neighboring agents, resulting in a decentralized state observer which features lower computational and communication loads than comparable centralized solutions. A method for computing observer gains which yield globally asymptotically stable error dynamics is presented for fixed topology formations, as well as an iterative algorithm for improving the decentralized estimator's performance when the measurements are corrupted by noise. The proposed framework is particularized to the practical case of a formation of Autonomous Underwater Vehicles (AUVs), and a continuous-discrete formulation is achieved for the local state observers, to take into account the difference in sampling rates between on-board instrumentation and positioning systems. To assess the performance of the solution, simulation results are presented and discussed for different formation topologies.

关键词： Observers Vehicles Position measurement Vehicle dynamics Noise measurement Topology Estimation error

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Photo rendering with swarms: From figurative to abstract pherogenic imaging

Photo rendering with swarms: From figurative to abstract phe...

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IEEE Workshop on Affective Computational Intelligence (WACI)

作者： Carlos M. Fernandes Antonio Mora Juan Julián Merelo Carlos Cotta Agostinho C. Rosa Department of Computer Architecture and Technology Systems and Robotics Institute University of Granada Spain Department of Computer Architecture and Technology University of Granada Spain Department of Computer Languages and Computer Science University of Malaga Spain Systems and Robotics Institute Technical University of Lisbon Portugal

This paper describes the use of ant colony models for photographic rendering, that is, for the depiction or interpretation of photographic images. A description of a previously proposed ant-based edge detection method called pherographia is given in order to contextualize this paper's proposal. Then, the application of the KANTS algorithm to photo-rendering is introduced. KANTS is ant-based clustering algorithm described by a set of equations that model the local behavior of simple units (ants). These units represent data samples. When moving on a heterogeneous 2-dimensional lattice of vectors, global behavior emerges from the local interaction between the ants, which self-organize into clusters. In this paper, a data set consists of the RGB values of a digital (or digitalized) photograph. Two different approaches for the initialization of the environment are tested, each one resulting in radically different output images: when the environment is initialized with the RGB values of the same image that is used to generate the data set, the final result is very similar to the original photo; a random initialization of the environment leads to an abstract interpretation of the photo. The results are contextualized within previous swarm artworks by the authors.

关键词： Vectors Art Mathematical model Equations Lattices Image color analysis Clustering algorithms

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