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检索条件"机构=Computer Science Robotics and Vision Laboratory"

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Sharing and fusing landmark information in a team of autonomous robots

Sharing and fusing landmark information in a team of autonom...

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Multisensor, Multisource Information Fusion: Architectures, Algorithms, and Applications 2009

作者： Lyons, Damian M. Robotics and Computer Vision Laboratory Department of Computer and Information Science Fordham University Bronx NY 10458 United States

ISBN: (纸本)9780819476111

A team of robots working to explore and map a space may need to share information about landmarks so as register local maps and to plan effective exploration strategies. In this paper we investigate the use of spatial histograms (spatiograms) as a common representation for exchanging landmark information between robots. Each robot can use sonar, stereo, laser and image information to identify potential landmarks. The sonar, laser and stereo information provide the spatial dimension of the spatiogram in a landmark-centered coordinate frame while video provides the image information. We call the result a terrain spatiogram. This representation can be shared between robots in a team to recognize landmarks and to fuse observations from multiple sensors or multiple platforms. We report experimental results sharing indoor and outdoor landmark information between a two different models of robot equipped with differently configured stereocameras and show that the terrain spatiogram (1) allows the robots to recognize landmarks seen only by the other with high confidence and, (2) allows multiple views of a landmark to be fused in a useful fashion. © 2009 SPIE.

关键词： Mobile robots

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Sharing landmark information using mixture of Gaussian terrain spatiograms

Sharing landmark information using mixture of Gaussian terra...

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2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Damian M. Lyons Robotics & Computer Vision Laboratory Computer and Information Science Department Fordham University Bronx NY USA

In this paper we evaluate the use of a novel spatial histogram, the terrain spatiogram, as a common representation for exchanging landmark information between robots working as a team to map an area. Individual robots use range sensors to provide the spatial dimension of the spatiogram and video for the image dimension. We have previously shown that terrain spatiograms can be shared between robots in a heterogeneous team to recognize landmarks and to fuse observations from multiple sensors or multiple platforms. A terrain spatiogram using a mixture of Gaussians (MOG) model is introduced and a corresponding normalized spatiogram similarity measure defined. Two methods to generate a MOG terrain spatiogram are presented and compared experimentally using indoor and outdoor landmark information transferred between two different models of robot equipped with differently configured stereocameras.

关键词： Robot kinematics Robot sensing systems Histograms Cognitive robotics Intelligent robots Image sensors Fuses Sensor fusion Navigation Hazards

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Traffic control for a swarm of robots: Avoiding target congestion

Traffic control for a swarm of robots: Avoiding target conge...

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2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Leandro Soriano Marcolino Luiz Chaimowicz Vision and Robotics Laboratory (VeRLab) Computer Science Department Federal University of Minas Gerais Brazil

One of the main problems in the navigation of robotic swarms is when several robots try to reach the same target at the same time, causing congestion situations that may compromise performance. In this paper, we propose a distributed coordination algorithm to alleviate this type of congestion. Using local sensing and communication, and controlling their actions using a probabilistic finite state machine, robots are able to coordinate themselves to avoid these situations. Simulations and real experiments were executed to study the performance and effectiveness of the proposed algorithm. Results show that the algorithm allows the swarm to have a more efficient and smoother navigation and is suitable for large groups of robots.

关键词： Traffic control Robot kinematics Navigation Robot sensing systems Intelligent robots Automata Robustness Roads Collision avoidance USA Councils

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On the generation of feasible paths for aerial robots in environments with obstacles

On the generation of feasible paths for aerial robots in env...

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2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Douglas G. Macharet Armando A. Neto Mario F. M. Campos Computer Vision and Robotics Laboratory (Ver lab) Computer Science Department Federal University of Minas Gerais Brazil

This paper presents a methodology based on a variation of the Rapidly-exploring Random Trees (RRTs) that generates feasible trajectories for autonomous aerial vehicles with holonomic constraints in environments with obstacles. Our approach uses Pythagorean Hodograph (PH) curves to connect vertices of the tree, which makes it possible to generate paths for which the main kinematic constraints of the vehicle are not violated. The smoothness of the acceleration profile of the vehicle is indirectly guaranteed between two vertices of the RRT tree. The proposed algorithm provides fast convergence to the final trajectory. We still utilize the properties of the RRT to avoid collisions with static obstacles of a environment. We show results for a small unmanned aerial vehicles in environments with different configurations.

关键词： Unmanned aerial vehicles Remotely operated vehicles Space vehicles Aircraft Mobile robots Path planning Intelligent robots Trajectory USA Councils Kinematics

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Traffic control for a swarm of robots: Avoiding group conflicts

Traffic control for a swarm of robots: Avoiding group confli...

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2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Leandro Soriano Marcolino Luiz Chaimowicz Vision and Robotics Laboratory (VeRLab) Computer Science Department Federal University of Minas Gerais Brazil

A very common problem in the navigation of robotic swarms is when groups of robots move into opposite directions, causing congestion situations that may compromise performance. In this paper, we propose a distributed coordination algorithm to alleviate this type of congestion. By working collaboratively, and warning their teammates about a congestion risk, robots are able to coordinate themselves to avoid these situations. We executed simulations and real experiments to study the performance and effectiveness of the proposed algorithm. Results show that the algorithm allows the swarm to navigate in a smoother and more efficient fashion, and is suitable for large groups of robots.

关键词： Traffic control Robot kinematics Navigation Intelligent robots Robot sensing systems Collision avoidance Orbital robotics Distributed algorithms USA Councils Collaborative work

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A path planning algorithm for UAVs with limited climb angle

A path planning algorithm for UAVs with limited climb angle

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2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Armando A. Neto Mario F. M. Campos Vision and Robotics Laboratory (Verlab) Computer Science Department Federal University of Minas Gerais Brazil

In this paper we present a methodology based on a variation of the spatial pythagorean hodograph curves to generate smooth feasible paths for autonomous vehicles in three-dimensional space under the restriction of limited climb angles. An fast iterative algorithm is used to calculate the curve. The generated path satisfy three main angular constraints given by the vehicle: (i) maximum curvature, (ii) maximum torsion and (iii) maximum climb (or dive). A path is considered feasible if these kinematic constraints are not violated. The smoothness vehicle's acceleration profile is indirectly guaranteed between two points. The proposed methodology is applicable to vehicles that move in three-dimensional environments, and that can be modeled by the constraints considered here. We show results for small aerial vehicle.

关键词： Path planning Unmanned aerial vehicles Remotely operated vehicles Space vehicles Mobile robots Interpolation Iterative algorithms Kinematics Acceleration Aircraft

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A framework for automating the construction of computational models

A framework for automating the construction of computational...

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Congress on Evolutionary Computation

作者： E. Hourdakis P. Trahanias Department of Computer Science University of Crete Greece Computational Vision and Robotics Laboratory Foundation for Research and Technology - Hellas Heraklion Greece

Computational modeling of natural systems can be used for interdisciplinary applications, such as the configuration of robotic systems or the validation of biological ones. Up to date there has been a little progress on suggesting a framework for automating the process of creating a computational model for biological processes. Instead researchers focus on the implementations of systems that are intended to replicate a tight set of biological behaviors. Such framework should be able to construct any system based on the appropriate level of abstraction chosen by the designer, as well as be able to enforce the appropriate biological consistency without compromising on performance or scalability of the generated models. In this paper we propose a framework that can automate the construction of computational models using genetic algorithms and demonstrate how this framework can construct a model of the parieto-frontal and premotor regions involved in grasping.

关键词： Computational modeling Biological system modeling Biology computing Biological systems computer science Brain modeling Genetic algorithms computer vision Robot vision systems Laboratories

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Time perception in shaping cognitive neurodynamics of artificial agents

Time perception in shaping cognitive neurodynamics of artifi...

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International Joint Conference on Neural Networks (IJCNN)

作者： Michail Maniadakis Jun Tani Panos Trahanias Computational Vision and Robotics Laboratory Institute of Computer Science Foundation for Research and Technology Hellas Crete Greece Laboratory for Behavior and Dynamic Cognition RIKEN Brain Science Institute Wako Saitama Japan

Recent research in cognitive systems aims to uncover important aspects of biological cognitive processes and additionally formulate design principles for implementing artificially intelligent systems. Despite the increasing amount of research efforts addressing cognitive phenomena, the issue of time perception and how it is linked to other cognitive processes remains largely unexplored. In the current paper, we make a first attempt for studying artificial time perception by means of simulated robotic experiments. Specifically, we investigate a behavioral rule switching task consisting of repeating trials with dynamic temporal duration. An evolutionary process is used to search for neuronal mechanisms accomplishing the rule switching task taking also into account its particular temporal characteristics. Our repeated simulation experiments showed that (i) time perception and ordinary cognitive processes may co-exist in the system sharing the same neural resources, and (ii) time perception dynamics bias the functionality of neural mechanisms with other cognitive responsibilities. Finally, in the current paper we make contact of the obtained results with previous brain imaging studies on time perception, and we make predictions for possible time-related dynamics in the real brain.

关键词： Neurodynamics Cognitive robotics Intelligent robots Intelligent systems Computational and artificial intelligence Robot vision systems Laboratories Brain modeling Humans computer vision

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A coordination mechanism for swarm navigation: Experiments and analysis

A coordination mechanism for swarm navigation: Experiments a...

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7th International Joint Conference on Autonomous Agents and Multiagent Systems, AAMAS 2008

作者： Marcolino, Leandro Soriano Chaimowicz, Luiz VeRLab-Vision and Robotics Laboratory Computer Science Department UFMG Brazil

ISBN: (纸本)9781605604701

We present an algorithm that allows swarms of robots to navigate in environments containing unknown obstacles, moving towards and spreading along 2D shapes given by implicit functions. Basically, a gradient descent approach augmented with local obstacle avoidance is used to control the swarm. To deal with local minima regions, we use a coordination mechanism that reallocates some robots as "rescuers" and sends them to help other robots that may be trapped. The main objective of this paper is to analyze the performance of this algorithm in terms of its completion rate and communication requirements as the number of robots increases. For this, a series of simulations are presented and discussed. Copyright © 2008, International Foundation for Autonomous Agents and Multiagent Systems (***). All rights reserved.

关键词： Autonomous agents

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On the problem of determination of spring stiffness parameters for spring-mesh models

On the problem of determination of spring stiffness paramete...

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Medicine Meets Virtual Reality 16 - Parallel, Combinatorial, Convergent: NextMed by Design, MMVR 2008

作者： Quang Huy Viet, Huynh Hirai, Shinichi Shirai, Yoshiaki Yamaguchi, Satoshi Tanaka, Hiromi T. Kawasaki, Hiroshi Kawai, Yukiko Computer Vision and Graphics Laboratory Department of Information and Computer Science Saitama University Saitama Japan Laboratory for Integrated Machine Intelligence Department of Robotics Ritsumeikan University Kusatsu Japan Computer Vision Lab. Department of Human and Computer Intelligence Ritsumeikan University Kusatsu Japan Kawai Lab. Department of Computer Science Kyoto Sangyo University Kyoto Japan

ISBN: (纸本)9781586038229

On account of having real-time behavior and being easy to implement, spring meshes have been used for modeling deformable objects. Determining spring stiffness parameters for simulation of soft objects with high accuracy still remains a challenge. Allen Van Gelder derived an approximate formula for determining spring stiffness parameters based on strain analysis. Even though the experimental result showed the effectiveness, the method has not been investigated from a quantitative point of view. In this paper we propose a quantitative method for determining spring stiffness parameters. Moreover we propose a method to improve the accuracy by way of introducing torsional spring into the conventional spring mesh model. © 2008 The authors. All rights reserved.

关键词： Stiffness matrix

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