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Multi-robot forest coverage for unweighted terrain

AIP Conference Proceedings 2013年第1期1558卷 2083-2086页

作者： Vladimir Popov Ural Federal University Department of Intelligent Systems and Robotics Mathematics and Computer Science Institute Lenin st. 51 620083 Ekaterinburg Russia

Different planning problems for mobile robots are of considerable interest for many years. Frequently, such problems require to solve different hard computational problems. Multi-robot forest coverage is one of such computational problems. In this paper, we consider an efficient approach to solve the problem of multi-robot forest coverage for unweighted terrain. In particular, we consider an explicit reduction from the decision version of the problem of multi-robot forest coverage for unweighted terrain to the satisfiability problem. For different satisfiability algorithms, the results of computational experiments are presented.

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Towards an automatic bag-of-features model for the classification of dermoscopy images: The influence of segmentation

Towards an automatic bag-of-features model for the classific...

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International Symposium on Image and Signal Processing and Analysis

作者： Catarina Barata Jorge S. Marques M. Emre Celebi Institute for Systems and Robotics Instituto Superior Técnico Portugal Department of Computer Science Louisiana State University USA

The classification of skin lesions in dermoscopy images depends on three critical steps: i) lesion segmentation, ii) feature extraction and iii) feature classification. Lesion segmentation plays an important role since segmentation errors may jeopardize the other two steps, leading to erroneous decisions. This paper studies the robustness of a skin lesion classifier based on a Bag-of-features approach in the presence of segmentation errors. We compare the performance achieved by the system using an automatic segmentation algorithm with the performance obtained using manual segmentation provided by a specialist. We observe a degradation of the system accuracy by 8% when automatic segmentation is used. We also show that these results can be improved if manually segmented images are used in training phase, keeping a fully automatic solution during the testing phase.

关键词： Lesions Image segmentation Malignant tumors Manuals Detectors Feature extraction Skin

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A novel leader-following strategy applied to formations of quadrotors

A novel leader-following strategy applied to formations of q...

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European Control Conference (ECC)

作者： Valter Roldão Rita Cunha David Cabecinhas Carlos Silvestre Paulo Oliveira Department of Electrical Engineering and Computer Science and Institute for Systems and Robotics Instituto Superior Técnico 1046-001 Lisbon Portugal

ISBN: (纸本)9781479901890

This paper presents a strategy for formation control of autonomous vehicles using a leader-following approach. A trajectory planner prescribes the motion of a group of virtual vehicles, using a Lyapunov-based nonlinear controller that stabilizes the position of the leader in the reference frame of the virtual vehicles at a predefined distance vector. This strategy differs from the standard approach of defining the desired distance vector in an inertial frame and can be used to obtain rich formation trajectories with varying curvatures between vehicles. By imposing adequate constraints on the motion of the virtual vehicles, the planner naturally guarantees the generation of valid formation trajectories, without requiring the parametrization of the space curve described by the leader. The trajectories are generated online and provided to a trajectory tracking controller specifically designed for quadrotor vehicles. Results of experimental tests are presented demonstrating the performance of the proposed solution for formation control of autonomous vehicles.

关键词： Trajectory Vehicles Lead Vectors Tracking Vehicle dynamics Angular velocity

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Experimental validation of a nonlinear quadrotor controller with wind disturbance rejection

Experimental validation of a nonlinear quadrotor controller ...

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European Control Conference

作者： David Cabecinhas Rita Cunha Carlos Silvestre Department of Electrical Engineering and Computer Science and Institute for Robotics and Systems in Engineering and Science (LARSyS) Instituto Superior Tecnico Universidade Tecnica de Lisboa

ISBN: (纸本)9781479901890

This paper addresses the problem of designing and experimentally validating a controller for steering a quadrotor vehicle along a trajectory, while rejecting wind disturbances. The proposed solution consists of a nonlinear adaptive state feedback controller for thrust and torque actuation that asymptotically stabilizes the closed-loop system in the presence of constant force disturbances, used to model the wind action, and ensures that the actuation does not grow unbounded as a function of the position errors. A prototyping and testing architecture, developed to streamline the implementation and the tuning of the controller, is also described. Experimental results are presented to demonstrate the performance and robustness of the proposed controller.

关键词： Controllers Induction loop systems Activation location error state feedback controller Disturbance rejection Closed loop systems thrust Wind tuning trajectory asymptotic wind action nonlinearity

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EmotionAir: Perception of Emotions from Air Jet Based Tactile Stimulation

EmotionAir: Perception of Emotions from Air Jet Based Tactil...

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International Conference on Affective Computing and Intelligent Interaction and Workshops, ACII

作者： Mohamed Yassine Tsalamlal Nizar Ouarti Jean-Claude Martin Mehdi Ammi Department of Computer Science CNRS-LIMSI Orsay France Institute of Intelligent Systems and Robotics University of Pierre and Marie Curie Paris France

Several studies in affective computing consider the role of haptic channel via the tactile and kinesthetic components. However, these works used constraining haptic devices with limited stimulation strategies. This paper proposes to investigate a new haptic device for the tactile stimulation with a mobile air jet. This approach is more suitable for the stimulation of skin mechanoreceptors which play an important role in social and affective behaviors. An experimental study was conducted in order to understand the relationships between the physical features of the air jet and the perception of emotions by participants. The results highlight a main effect of the intensity and movement velocity of the air jet stimulation on the evaluations of valence, arousal, and dominance.

关键词： Haptic interfaces Skin Affective computing Educational institutions Psychology Analysis of variance Mobile communication

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An adaptive P300 model for controlling a humanoid robot with mind

An adaptive P300 model for controlling a humanoid robot with...

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IEEE International Conference on robotics and Biomimetics

作者： Mengfan Li Wei Li Jing Zhao Qinghao Meng Fuchun Sun Genshe Chen The Institute of Robotics and Autonomous Systems Tianjin University Tianjin China Department of Computer & Electrical Engineering and Computer Science California State University Bakersfield California USA the Institute of Robotics and Autonomous Systems Tianjin University Tianjin China Department of Computer Science and Technology Tsinghua University Beijing China The Intelligent Fusion Technology Inc. Germantown MD

ISBN: (纸本)9781479927456

This paper presents a P300 model for controlling a humanoid robot with mind, including an off-line phase with a fixed trial number for training the model and an on-line phase with an adaptive strategy for generating commands to the humanoid robot. Our control scheme includes a procedure of acquiring P300 signals, topographical distribution analysis of P300 signals, and a classification approach to identifying subjects' mental activities regarding robot-walking behavior. Our study shows that the adaptive model is fast and practical to control humanoid robot via brainwaves.

关键词： Adaptation models Humanoid robots Accuracy Context Brain modeling Testing

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Cooperative Robot Localization and Target Tracking based on Least Squares Minimization

Cooperative Robot Localization and Target Tracking based on ...

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IEEE International Conference on robotics and Automation

作者： Aamir Ahmad Gian Diego Tipaldi Pedro Lima Wolfram Burgard Institute for Systems and Robotics Instituto Superior Tecnico Autonomous Intelligent System Laboratory Department of Computer Science Albert-Ludwigs-Universitat Freiburg

ISBN: (纸本)9781467356404

In this paper we address the problem of cooperative localization and target tracking with a team of moving robots. We model the problem as a least squares minimization problem and show that this problem can be efficiently solved using sparse optimization methods. To achieve this, we represent the problem as a graph, where the nodes are robot and target poses at individual time-steps and the edges are their relative measurements. Static landmarks at known position are used to define a common reference frame for the robots and the targets. In this way, we mitigate the risk of using measurements and state estimates more than once, since all the relative measurements are i.i.d. and no marginalization is performed. Experiments performed using a set of real robots show higher accuracy compared to a Kalman filter.

关键词： Target tracking Robot relative measurement REFERENCE FRAMES Kalman filters Least squares method Optimization methods Targets

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Distributed compressed sensing algorithms: Completing the puzzle

Distributed compressed sensing algorithms: Completing the pu...

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IEEE Global Conference on Signal and Information Processing (GlobalSIP)

作者： João F. C. Mota João M. F. Xavier Pedro M. Q. Aguiar Markus Püschel Institute of Systems and Robotics Instituto Superior Técnico Technical University of Lisbon Portugal Department of Computer Science ETH Zurich Switzerland

Reconstructing compressed sensing signals involves solving an optimization problem. An example is Basis Pursuit (BP) [1], which is applicable only in noise-free scenarios. In noisy scenarios, either the Basis Pursuit Denoising (BPDN) [1] or the Noise-Aware BP (NABP) [2] can be used. Consider a distributed scenario where the dictionary matrix and the vector of observations are spread over the nodes of a network. We solve the following open problem: design distributed algorithms that solve BPDN with a column partition, i.e., when each node knows only some columns of the dictionary matrix, and that solve NABP with a row partition, i.e., when each node knows only some rows of the dictionary matrix and the corresponding observations. Our approach manipulates these problems so that a recent general-purpose algorithm for distributed optimization can be applied.

关键词： Dictionaries Distributed algorithms Vectors Compressed sensing Optimization Educational institutions Partitioning algorithms

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Experimental Validation of a Globally Stabilizing Feedback Controller for a Quadrotor Aircraft with Wind Disturbance Rejection

Experimental Validation of a Globally Stabilizing Feedback C...

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American Control Conference

ISBN: (纸本)9781479901777

This paper addresses the design and experimental evaluation of a globally stabilizing controller to steer a quadrotor vehicle along a predefined path. The proposed solution consists of a nonlinear adaptive state feedback controller for thrust and angular velocity actuation that i) guarantees convergence of the closed-loop path following error to zero in the presence of constant force disturbances and ii) ensures that the actuation does not grow unbounded as a function of the position error. A prototyping and testing architecture, developed to streamline the implementation and the tuning of the controller, is also described. Experimental results, where the quadrotor is subject to external wind disturbances, are presented to demonstrate the performance and robustness of the proposed controller.

关键词： Controllers feedback controller stabilizing feedback location error state feedback controller Disturbance rejection Wind tuning Aircraft follow error

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A new algorithm for linearization up to multi-output and multi-input injection for a class of systems with implicitly defined outputs

A new algorithm for linearization up to multi-output and mul...

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European Control Conference (ECC)

作者： Sérgio S. Rodrigues A. Pedro Aguiar Öaw Institute for Computational and Applied Mathematics (RICAM) Linz Austria Department of Electrical and Computer Engineering Laboratory of Robotics and Systems in Engineering and Science (LARSyS) Lisbon Portugal

ISBN: (纸本)9781479901890

Given a class of nonlinear systems with implicitly defined outputs, we provide a new algorithm to find appropriate local coordinates, in which the resulting system takes a desired target form that is state-affine, up to output and input injection. Once in the target form, it is possible to construct a state-space observer with linear, possibly time-varying, error dynamics.

关键词： Vectors Equations Observers Gold Geometry Nonlinear dynamical systems

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