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A Polynomial Function Discovery System — FFS

International Journal on Artificial Intelligence Tools 1997年第1期6卷 1-13页

作者： Spyros Tzafestas Zhifang Ma Intelligent Robotics and Automation Laboratory Department of Electrical and Computer Engineering National Technical University of Athens Zografou 15773 Athens Greece On leave from the Department of Computer Science Jilin University Changchun P.R.China

This paper presents a function discovery system FFS that has two core parts: FFS-0-CORE and FFS-1-CORE. Both cores are with polynomial time complexity in discovering functions of either a•f(x)+b form or a 1 f 1 (x)+…+a n f n (x)+b form. FFS-0-CORE allows users to define their own models. FFS-1-CORE uses novel principles to increase information which helps the function discovery procedures. Three computational examples are included.

关键词： Formula discovery machine discovery machine learning artificial intelligence

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Solving the find-path problem: a complete and less complex approach using the BIE methodology

Solving the find-path problem: a complete and less complex a...

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IEEE International Symposium on Computational Intelligence in robotics and Automation (CIRA)

作者： I. Mantegh M.R.M. Jenkin A.A. Goldenberg Robotics and Automation Laboratory Department of Mechanical and Industrial Engineering University of Toronto Toronto ONT Canada Department of Computer Science York University North York ONT Canada

Although significant progress has been made in the area of robot motion planning, many issues still need to be addressed. These include the computational complexity of navigation algorithms, their adaptability to different environments, and their sensitivity to changes in the environment. By capitalizing on the known properties of harmonic potential functions, this work develops a new approach towards model-based path planning which is intuitive, complete (goal attainability is guaranteed), free from local traps (local minima) and computationally less complex than many existing methods. Extending the advantages of hill-climbing method, which have low space and time complexity, to a global (model-based) path planning algorithm marks one of the major contributions of this work. Furthermore, the algorithm presented here is able to handle arbitrary geometries and does not require a geometrical or topological approximation at the environment representation level.

关键词： Path planning Orbital robotics Navigation Motion planning Robot sensing systems Intelligent robots Collision avoidance Geometry robotics and automation Laboratories

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Determining the skeletal description of sparse shapes

Determining the skeletal description of sparse shapes

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IEEE International Symposium on Computational Intelligence in robotics and Automation (CIRA)

作者： R. Singh V. Cherkassky N.P. Papanikolopoulos Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science University of Minnesota Minneapolis MN USA Department of Electrical Engineering University of Minnesota Minneapolis MN USA

A variety of techniques in machine vision involve representation of objects by using their shape skeleton. In this paper we present a method to obtain the skeletal shape of binary images in the presence of both boundary noise and noise occurring inside object regions. We propose to obtain the skeletal shape of such images by a modified version of the Kohonen self-organizing map, implemented in a batch processing mode. The modifications allow the map to adapt to the input shape distribution. At each iteration, a competitive Hebbian rule is used to progressively compute the Delaunay triangulation of the shape. Information from the triangulation augments the map topology to yield the final skeletal shape. The batch mode implementation of the self-organizing process, allows our approach to compare very favourably, in terms of computational time, with the traditional flowthrough implementations. Encouraging experimental performance has been obtained on a variety of shapes under varying signal to noise ratios.

关键词： Shape Noise shaping Skeleton Intelligent robots Machine vision computer vision Noise level Noise figure Machine intelligence Robot vision systems

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Emergence and Effectiveness of Communication Interface in a System of Distributed Intelligent Agents

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Journal of robotics and Mechatronics 1997年第2期9卷 146-151页

作者： Agah, Arvin Bekey, George A. Bio-Robotics Division Mechanical Engineering Laboratory AIST- Ministry of International Trade and Industry 1-2 Namiki Tsukuba305 Japan Institute for Robotics and Intelligent Systems Computer Science Department University of Southern California Los AngelesCA90089 United States

The emergence and effectiveness of communication interface in a colony of autonomous agents is discussed in this paper. The robotic agents sense the world within which they are embedded, while performing specific tasks in the world. Some of the tasks require the simultaneous cooperation of two robotic agents. These agents are able to sense other agents and communicate via simple, task-related messages. Using genetic algorithms, a colony of agents is evolved, producing agents with improved performance. It is shown that the tendency of the robotics agents to communicate increases through evolution, as the colony cooperates more, in order to perform more tasks. The concepts developed through computer simulation are tested for feasibility in a team of four small mobile-manipulator robots, each controlled autonomously via an on-board micro-processor. © Fuji Technology Press Ltd.

关键词： Multi agent systems

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1D representations and systems theory for a class of 2D linear systems 4

1D representations and systems theory for a class of 2D line...

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4th European Control Conference, ECC 1997

作者： Galkowski, K. Rogers, E. Owens, D.H. Department of Robotics and Software Engineering Technical University of Zielona Gora ul. Podgorna 50 Zielona Gora65-246 Poland ISIS Group Dept. Electronics and Computer Science University of Southampton SouthamptonSO17 1BJ United Kingdom School of Engineering University of Exeter North Park Road ExeterEX4 4QF United Kingdom

ISBN: (纸本)9783952426906

Repetitive, or multipass, processes are a class of systems characterised by a series of sweeps through a set of dynamics defined over a finite fixed duration. The class of so-called discrete linear repetitive processes have strong structural links with well studied classes of 2D linear systems and also with standard (1D) linear systems. One possible approach to the (control related) analysis of these processes is to embed their basic 2D structure in a 1D representation. This paper develops such a representation and uses it to characterise the key systems theoretic property of controllability for this class of linear repetitive processes.

关键词： Linear systems

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Tropism-based cognition for the interpretation of context-dependent gestures

Tropism-based cognition for the interpretation of context-de...

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IEEE International Conference on robotics and Automation (ICRA)

作者： R.M. Voyles A. Agah P.K. Khosla G.A. Bekey Robotics Ph.D. Program Carnegie Mellon University Pittsburgh PA USA Bio Robotics Division Mechanical Engineering Laboratory Tsukuba Japan Department of Elect. and Comp. Eng Carnegie Mellon University Pittsburgh PA USA Department of Computer Science University of Southern California Los Angeles CA USA

The tropism system cognitive architecture provides an intuitive formalism for colonies of agents, either hardware or software. We present a fine-grained implementation of the architecture on a colony of software agents for the interpretation of human tactile gestures for robotic trajectory specification and modification. The fine-grained nature of the architecture and the use of the port-based object framework for agent instantiation allows the manual construction of a capable agent set that is reconfigurable and reusable across different gesture-based interaction tasks.

关键词： Cognition Cognitive robotics Shape computer architecture Robot sensing systems Manipulators Humans Multiagent systems Robot programming Mice

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Algorithms for Hierarchical Spatial Reasoning

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GeoInformatica 1997年第3期1卷 251-273页

作者： Papadias, Dimitris Egenhofer, Max J. Department of Computer Science Hong Kong Univ. of Sci. and Technol. Clearwater Bay Hong Kong Natl. Ctr. Geogr. Info. and Anal. Department of Computer Science University of Maine Orono ME 04469-5711 United States Natl. Ctr. Geogr. Info. and Anal. University of Maine Germany Dept. of Spatial Info. Sci. and Eng. United States University of Stuttgart Germany Univ. of Maine in Surv. Engineering United States Computer Science Dept. Hong Kong Univ. of Sci. and Technol. Hong Kong Inst. Intelligent Robotics Info. S. Canada Elec. and Computer Engineering Dept. Natl. Technical University of Athens Greece Department of Geoinformation Technical University of Vienna Austria Dept. of Comp. Sci. and Engineering University of California San Diego CA United States Natl. Ctr. Geogr. Info. and Anal. University of Maine United States Artif. Intell. Research Division Ger. Natl. Res. Ctr. Info. Technol. Germany

In several applications, there is the need to reason about spatial relations using multiple local frames of reference that are hierarchically organized. This paper focuses on hierarchical reasoning about direction relations, a special class of spatial relations that describe order in space (e.g., north or northeast). We assume a spatial database of points and regions. Points belong to regions, which may recursively be parts of larger regions. The direction relations between points in the same region are explicitly represented (and not calculated from coordinates). Inference mechanisms are applied to extract direction relations between points located in different regions and to detect inconsistencies. We study two complementary types of inference. The first one derives the direction relation between points from the relations of their ancestor regions. The second type derives the relation through chains of common points using path consistency. We present algorithms for both types of inference and discuss their computational complexity.

关键词： Direction relations Geographic databases Path consistency Spatial reasoning

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Geometry-based part grouping for assembly planning

Geometry-based part grouping for assembly planning

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IEEE International Symposium on Assembly and Manufacturing (ISAM)

作者： H. Moradi K. Goldberg S. Lee Department of Computer Science-EE Systems Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA Department of Industrial Engineering and Operation Research University of California Berkeley USA Jet Propulsion Laboratory California Institute of Technology Pasadena CA USA

One way to find an optimal plan is to enumerate all plans and evaluate a quality metric for each plan. However it is well known that N parts can have up to O(2/sup N/) assembly plans. Reducing N by grouping parts has been proposed earlier but to our knowledge has not been formally defined. In this paper we define two types of groups in terms of part geometry using the nondirectional blocking graph and binary adjacency matrices defined by Wilson and Latombe (1994). We give a polynomial time algorithm for identifying serial and parallel groups. We tested the algorithm on two planar assemblies where it reduced plan time by a factor of 4.

关键词： Robotic assembly Fasteners Intelligent robots Transmission line matrix methods Testing Design automation Product design Design engineering Process planning Terminology

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Geometric collision detection and potential field based time delay planning for dual arm systems

Geometric collision detection and potential field based time...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Sukhan Lee H. Moradi G. Kardaras Sung-Kwon Kim Jet Propulsion Laboratory California Institute of Technology Pasadena CA USA Department of Computer Science-EE Systems Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA Production Engineering Center Samsung Electronics Company Limited Suwan South Korea

In this paper a method for collision detection and collision avoidance for dual arm robots is proposed. The collision detection, a fast geometric approach based on link intersection, detects the collision and constructs the collision region for given trajectories. The time delay planning determines the minimum necessary time delay to avoid collisions using a potential field representation for collision regions. The planning is based on a flexible, massively parallel approach. It effectively avoids any local minima problems due to the potential field representation and can be used regardless of the complexity of the collision region (e.g., concave or complicated regions).

关键词： Delay effects Robotic assembly Manipulators Orbital robotics Intelligent robots Parallel robots Parallel processing Assembly systems robotics and automation Path planning

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Flaw Selection Strategies for Value-Directed Planning 3

Flaw Selection Strategies for Value-Directed Planning

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3rd International Conference on Artificial Intelligence Planning Systems, AIPS 1996

作者： Williamson, Mike Hanks, Steve The Robotics Institute Carnegie Mellon University United States Department of Computer Science and Engineering University of Washington United States

ISBN: (纸本)0929280970

A central issue faced by partial-order, causal-link (POCL) planning systems is how to select which flaw to resolve when generating the refinements of a partial plan. Domain-independent flaw selection strategies have been discussed extensively in the recent literature (Peot & Smith 1993;Joslin & Pollack 1994;Schubert & Gerevini 1995). The PYRRHUS planning system is a decision-theoretic extension to POCL planners that finds optimal plans for a class of goal-directed value functions. Although PYRRHUS uses a branch-and-bound algorithm instead of best-first satisficing search, it is faced with the same flaw selection decision as other POCL planners. This paper explains why popular domain-independent flaw-selection strategies are ineffective within an optimizing framework, and presents two new strategies that exploit the additional value information available to PYRRHUS. Copyright © 1996 AAAI (***). All rights reserved.

关键词： Branch and bound method

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