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

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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A Distributed Market-based Algorithm for the Multi-robot Assignment Problem

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Procedia computer science 2014年 32卷 1108-1114页

作者： Sahar Trigui Anis Koubaa Omar Cheikhrouhou Habib Youssef Hachemi Bennaceur Mohamed-Foued Sriti Yasir Javed University of Manouba ENSI Tunisia Cooperative Intelligent Networked Systems (COINS) Research Group Riyadh Saudi Arabia Prince Sultan University College of Computer and Information Sciences Riyadh Saudi Arabia CISTER/INESC-TEC ISEP Polytechnic Institute of Porto Porto Portugal University of Sfax Computer and Embedded Systems Lab Tunisia University of Sousse PRINCE Research Unit Tunisia Al Imam Mohammad Ibn Saud Islamic University Computer Science Department Saudi Arabia

Assigning tasks to a set of robots is a fundamental problem in robotics. It consists in finding the best task assignment to the available robots. In this paper, we present two distributed market-based algorithms to solve the assignment problem where n robots compete for n tasks with the assumption that each robot can be assigned to only one task. The first algorithm, called DMB, represents a Distributed Market-Based algorithm where each robot bids for every task. The second algorithm is an extension of the DMB. It consists in swapping tasks between robots in order to improve the efficiency of the whole assignment. We conducted both real-world experimental testing, and MATLAB simulations to evaluate performance of the proposed algorithms and compare them against the centralized Hungarian algorithm in terms of traveled distance. Simulation results show that the IDMB algorithm produces near optimal solutions and in several cases it gives the optimal solution. In addition, we demonstrated the feasibility of our algorithms through real-world experimentation on robots.

关键词： Task Assignment Market-based Algorithms Multi-Robot Task Allocation ROS.

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Visual landmark selection for mobile robot navigation

IAENG International Journal of Computer Science

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IAENG International Journal of computer science 2013年第3期40卷 134-142页

作者： Gorbenko, Anna Popov, Vladimir Ural Federal University Department of Intelligent Systems Robotics of Mathematics and Computer Science Institute 620083 Ekaterinburg Russia

A large number of landmarks selection techniques has been proposed. However, finding optimal solutions requires to solve some hard problems. In this paper, we consider the P- minimum overlapping region decomposition problem that was proposed for landmarks selection. This problem is NP-complete. We describe an approach to solve the problem optimally. This approach is based on an explicit reduction from the problem to the satisfiability problem. Also, we consider some greedy algorithms for solution of the problem.

关键词： Optimization

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On the constrained longest common subsequence problem

IAENG International Journal of Computer Science

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IAENG International Journal of computer science 2013年第4期40卷 266-273页

作者： Gorbenko, Anna Ural Federal University Department of Intelligent Systems Robotics of Mathematics and Computer Science Institute 620083 Ekaterinburg Russia

The problem of the longest common subsequence is a classical distance measure for strings. There have been several attempts to accommodate longest common subsequences along with some other distance measures. There are a large number of different variants of the problem. In this paper, we consider the constrained longest common subsequence problem for two strings and arbitrary number of constraints. In particular, we consider an explicit reduction from the problem to the satisfiability problem and present experimental results for different satisfiability algorithms. It should be noted that different regularities in experimentally obtained data reveal important information about the underlying physical system. In this paper, we consider the problem of systematic monitoring of passenger flows. In particular, we use constrained longest common subsequences for tracking the image features.

关键词： Genetic algorithms

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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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Multi-robot forest coverage for unweighted terrain

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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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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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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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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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