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Learning distributed grasp in presence of redundant agents

Learning distributed grasp in presence of redundant agents

引用

IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： A.H. Elahibakhsh M. Nili Ahmadabadi F. Janabi-Sharifi B. Nadjar Araabi AI & Robotics Laboratory Center of Excellence for Control and Intelligent Processing Department of Electrical and Computer Eng. Institute for Studies on Theoretical Physics and Mathematics University of Tehran Tehran Iran Robotics and Manufacturing Automation Lab Department of Mechanical and Industrial Engineering Ryerson University Toronto ONT Canada

Learning distributed object grasp by a group of robots with redundant members is the main focus of this paper. In Elahibakhsh, A. H., et al. (2004), we tackled the problem of learning form closure grasp for planar convex objects by multiple non-communicating robots without any information about the shape of objects. In this paper, the problem in presence of redundant agents is investigated. Agents' states and actions are designed such that the group learns grasping different objects using Q-learning method. As the environment is not intelligent enough to assess each agent's effect on the team performance, a credit assignment algorithm based on knowledge evaluation is designed. The proposed method considers the environment credit for the team, number of redundant agents, and the expertness level of each agent in its credit assignment. Applicability of the designed approach is verified through a set of simulations. It is shown that the team learns grasping different objects. Therefore, it is expected that the proposed method can be extended for distributed grasp of deformable objects

关键词： Intelligent robots Learning Robot sensing systems Shape Cognitive robotics robotics and automation Intelligent agent Algorithm design and analysis Grasping Redundancy

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Transference of Evolved Unmanned Aerial Vehicle Controllers to a Wheeled Mobile Robot

Transference of Evolved Unmanned Aerial Vehicle Controllers ...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： G.J. Barlow L.S. Mattos E. Grant C.K. Oh Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA U.S. Naval Research Laboratory Washington D.C. USA

Transference of controllers evolved in simulation to real vehicles is an important issue in evolutionary robotics (ER). We have previously evolved autonomous navigation controllers for fixed wing UAV applications using multi-objective genetic programming (GP). Controllers were evolved to locate a radar source, navigate the UAV to the source efficiently using on-board sensor measurements, and circle around the emitter. We successfully tested an evolved UAV controller on a wheeled mobile robot. A passive sonar system on the robot was used in place of the radar sensor, and a speaker emitting a tone was used as the target in place of a radar. Using the evolved navigation controller, the mobile robot moved to the speaker and circled around it. The results from this experiment demonstrate that our evolved controllers are capable of transference to real vehicles. Future research will include testing the best evolved controllers by using them to fly real UAVs.

关键词： Unmanned aerial vehicles Mobile robots Sonar navigation Robot control Robot sensing systems Genetic programming Testing Passive radar Remotely operated vehicles Erbium

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Pricing for Rate Allocation in Unicast Service Provisioning is Informationally Efficient

Pricing for Rate Allocation in Unicast Service Provisioning ...

引用

IEEE Conference on Decision and Control

作者： T.M. Stoenescu D. Teneketzis Postdoctoral Scholar in the Social and Information Science Laboratory California Institute of Technology Pasadena CA USA Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA

We establish the informational efficiency of the pricing mechanism for unicast service provisioning, a class of decentralized resource allocation problems that arise in communication networks. We also present instances of network resource allocation problems where users are price takers and pricing mechanisms are not informationally efficient.

关键词： Pricing Unicast Resource management Space technology Communication networks Intserv networks Intelligent networks Routing Information science Laboratories

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Modeling of human driving behavior based on piecewise linear model

Modeling of human driving behavior based on piecewise linear...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Jong-Hae Kim S. Okuma Young-Woo Kim Don-Ha Hwang Min-Huei Kim Dong-Hee Kim Department of Electrical Engineering and Computer Science Graduate School of Engineering University of Nagoya Japan Space Robotics Research Center Toyota Technological Institute Nagoya Japan Industry Applications Research Laboratory Korea Electrotechnology Research Institute Changwon South Korea Department of Electrical & Automation Engineering Yeungnam College of Science and Technology Daegu South Korea Department of Electrical Engineering Yeungnam University Kyungbuk South Korea

This paper presents the development of the modeling strategy of the human driving behavior based on the expression as Piecewise Linear (PWL) model focusing on the driver’s stopping maneuver. The driving data are collected by using the three-dimensional driving simulator based on CAVE, which provides stereoscopic immersive vision. In our modeling, the relationship between the driver’s sensory information and the operation of the driver such as braking amount is expressed by PWL model, which is a class of Hybrid Dynamical System (HDS). The identification problem for the PWL model is formulated as the Mixed Integer Linear Programming (MILP) by transforming the switching conditions into binary variables. From the obtained results, it is found that the driver appropriately switches the ‘control low’ according to the sensory information. These results enable us to capture not only the physical meaning of the driving skill, but also the decision-making aspect (switching conditions) in the driver’s stopping maneuver.

关键词： Humans Piecewise linear techniques Hidden Markov models Decision making computer science Space technology robotics and automation Switches Automatic control Service robots

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Scalable temporal interest points for abstraction and classification of video events

Scalable temporal interest points for abstraction and classi...

引用

IEEE International Conference on Multimedia and Expo (ICME)

作者： Seung-Hoon Han ln-So Kweon Digital Media R&D Center Samsung Electronics Company Limited South Korea Robotics and Computer Vision Laboratory Division of Electrical Engineering Department of EECS Korea Advanced Institute of Science and Technology South Korea

The image sequence of a static scene includes similar or redundant information over time. Hence, motion-discontinuous instants can efficiently characterize a video shot or event. However, such instants (key frames) are differently identified according to the change of velocity and acceleration of motion, and such scales of change might be different on each sequence of the same event. In this paper, we present a scalable video abstraction in which the key frames are obtained by the maximum curvature of camera motion at each temporal scale. The scalability means dealing with the velocity and acceleration change of motion. In the temporal neighborhood determined by the scale, the scene features (motion, color, and edge) can be used to index and classify the video events. Therefore, those key frames provide temporal interest points (TIPs) for the abstraction and classification of video events.

关键词： Layout Acceleration Cameras Humans Research and development Robot vision systems computer vision Laboratories Image sequences Scalability

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Task allocation for event-aware spatiotemporal sampling of environmental variables

Task allocation for event-aware spatiotemporal sampling of e...

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2005 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： M.A. Batalin G.S. Sukhatme Yan Yu R. Pon J. Gordon M.H. Rahimi W.J. Kaiser G.J. Pottie D.E. Estrin Center for Robotics and Embedded Systems Robotic Embedded Systems Laboratory Computer Science Department University of Southern California Los Angeles CA USA Department of Computer Science Center for Embedded Networked Sensing University of California Los Angeles CA USA Department of Electrical Engineering Center for Embedded Networked Sensing University of California Los Angeles CA USA

Monitoring of environmental phenomena with embedded networked sensing confronts the challenges of both unpredictable variability in the spatial distribution of phenomena coupled with the demands for a high spatial sampling rate in three dimensions. For example, low distortion mapping of critical solar radiation properties in forest environments may require two-dimensional spatial sampling rates of greater than 10 samples/m/sup 2/ over transects exceeding 1000 m/sup 2/. Clearly, adequate sampling coverage of such transect requires an impractically large number of sensing nodes. A new approach, networked infomechanical system (NIMS), has been introduced to combine autonomous-articulated and static sensor nodes enabling sufficient spatiotemporal sampling density over large transects to meet a general set of environmental mapping demands. This paper describes our work on the critical parts of NIMS, the task allocation module. We present our methodologies and the two basic greedy task allocation policies - based on time of the task arrival (time policy) and distance from the robot to the task (distance policy). We present results from NIMS deployed in a forest reserve and from a lab testbed. The results show that both policies are adequate for the task of spatiotemporal sampling, but also complement each other. Finally, we suggest the future direction of research that would both help us better quantify the performance of our system and create more complex policies.

关键词： Spatiotemporal phenomena Sampling methods Sensor phenomena and characterization Solar radiation Mobile robots Atmospheric measurements Ecosystems Robot sensing systems Embedded system computer science

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A framework for understanding verbal route instructions

A framework for understanding verbal route instructions

引用

2004 AAAI Fall Symposium

作者： MacMahon, Matt Department of Electrical and Computer Engineering Intelligent Robotics Laboratory University of Texas Austin

My goal is to understand human verbal route instructions by modeling and implementing the language, knowledge representation, and cognitive processes needed to communicate about spatial routes. To understand human route instructions, I ran a study of how people give and follow route instructions. I modeled the language used in the route instruction texts using standard computational linguistics techniques. I model the information content of the route instruction texts using a spatial ontology. I introduce a set of axioms and heuristics that can autonomously transform a linguistic representation of what the route director said into a semantic representation of the intended route. This semantic representation has been implemented in mobile robots that can navigate and accomplish simultaneous localization and mapping in real-world environments. Finally, I model the processes of following and giving route instructions as Markov processes.

关键词： computer aided instruction

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Fusion of visual and thermal signatures with eyeglass removal for robust face recognition

Fusion of visual and thermal signatures with eyeglass remova...

引用

2004 IEEE computer Society Conference on computer Vision and Pattern Recognition Workshops, CVPRW 2004

作者： Heo, Jingu Kong, Seong G. Abidi, Besma R. Abidi, Mongi A. Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee KnoxvilleTN37996-2100 United States

This paper describes a fusion of visual and thermal infrared (IR) images for robust face recognition. Two types of fusion methods are discussed: data fusion and decision fusion. Data fusion produces an illumination-invariant face image by adaptively integrating registered visual and thermal face images. Decision fusion combines matching scores of individual face recognition modules. In the data fusion process, eyeglasses, which block thermal energy, are detected from thermal images and replaced with an eye template. Three fusion-based face recognition techniques are implemented and tested: Data fusion of visual and thermal images (Df), Decision fusion with highest matching score (Fh), and Decision fusion with average matching score (Fa). A commercial face recognition software FaceIt® is used as an individual recognition module. Comparison results show that fusion-based face recognition techniques outperformed individual visual and thermal face recognizers under illumination variations and facial expressions. © 2004 IEEE.

关键词： Face recognition

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Fusion of Visual and Thermal Signatures with Eyeglass Removal for Robust Face Recognition

Fusion of Visual and Thermal Signatures with Eyeglass Remova...

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IEEE computer Society Conference on computer Vision and Pattern Recognition Workshops (CVPRW)

作者： Jingu Heo S.G. Kong B.R. Abidi M.A. Abidi Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville TN USA

关键词： Robustness Face recognition Face detection Lighting Optical imaging Intelligent robots Infrared imaging Pattern recognition computer vision Temperature

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Conditions for uniform solvability of parameter-dependent Lyapunov equations with applications

Conditions for uniform solvability of parameter-dependent Ly...

引用

American Control Conference (ACC)

作者： P. Krishnamurthy F. Khorrami Control/Robotics Research Laboratory(CRRL) Department of Electrical and Computer Engineering Polytechnic University Brooklyn NY USA

We consider the problem of finding a common quadratic Lyapunov function to demonstrate stability of a family of matrices which incorporate design freedoms. Generically, this can be viewed as picking a family of controller (or observer) gains so that the family of closed-loop system matrices admits a common Lyapunov function. We provide several conditions, necessary and sufficient, for various structures of matrix families. Families of matrices containing a subset of diagonal matrices invariant under the design freedoms is also considered since this is a case that occurs in many applications. Conditions for uniform solvability of the Lyapunov equations are explicitly given and involve inequalities regarding relative magnitudes of terms in the matrices. Motivating applications of the obtained results to observer and controller designs for time-varying, switched, and nonlinear systems are highlighted.

关键词： Equations Symmetric matrices Application software Lyapunov method Control systems Time varying systems Nonlinear systems Robot control Laboratories Design engineering

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