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A Task-Level Model of Distibuted Computation for Sensory-Based Control of Complex Robot Systems

IFAC Proceedings Volumes 1985年第16期18卷 349-354页

作者： D. Lyons M. Arbib Laboratory for Perceptual Robotics Department of Computer and Information Science University of Massachusetts Amherst MA 01003 USA

We describe the development of a task-level model of distributed computation specifically designed for complex robot systems. We start by describing two fundamental problems which characterize the complex robot domain, and then describe four examples by which our model can be judged. Emphasizing that the formal exploration of behavior is as important as the specification of behavior, we describe the syntax and semantics of our model. Noting that our emphasis in this paper is on representation, we detail the implementation of each of the four examples introduced earlier. We conclude by analysing our implementations and outlining future work on this model.

关键词： Artificial Intelligence Automata Computational Methods Dextrous Robot Hands Distributed Processing robots sensors

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Dynamic Planning for Sensor-Based Robots

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IFAC Proceedings Volumes 1985年第16期18卷 343-348页

作者： R. Vijaykumar M.A. Arbib Y. Liu Laboratory for perceptual Robotics Department of computer and Information Science University of Massachusetts Amherst MA 01003 USA

This paper describes an approach to planning suitable for robots functioning in the assembly domain. A robot planner has to function in the presence of incomplete information and needs to react to unexpected changes in the environment. A planner that can function in a dynamically changing environment, correspondingly modifying its plans and goals is termed a dynamic planner . The ability of the planner to dynamically restructure its plan of action is facilitated by the fact that the robot system is equipped with various sensors. In this paper, we describe our approach to building a dynamic planner, our initial efforts and discuss the planning of a simple assembly task.

关键词： Dynamic Planning Robots Assembly

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An Approach to the Integration of Vision and Touch for Robot Control

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IFAC Proceedings Volumes 1985年第16期18卷 261-266页

作者： R.E. Ellis Laboratory fot Perceptual Robotics. Department of Computer and Information Science. University of Massachusetts Amherst MA 01003 USA

Advanced, flexible robotic systems require multiple sensors to successfully perform tasks in changing or unfamiliar environments. The data from these sensors must be integrated dynamically, in a coherent fashion, if the robot is to respond promptly and appropriately and complete its assigned task. This paper describes a methodology for the integration of two robotic senses - vision and touch. Integration is performed by augmenting the usual structural models of the object in the robot's world with functional information. These functional attributes, which describe how an object relates to other objects in the world, facilitates the process of inferring from multiple sensors and thus in controlling the robot's motions.

关键词： Robots Artificial Intelligence Sensor Integration

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On Simplification Of Robot Arm Dynamic Equation

On Simplification Of Robot Arm Dynamic Equation

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Asilomar Conference on Signals, Systems & computers

作者： T.C. Hsia G.Z. Lu Robotics Research Laboratory Department of Electrical and computer Engineering University of California Davis CA USA Department of Computer and System Science Nankai University Tianjin China

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Planning and Decision-Making for Autonomous Vehicles

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Control, robotics, and Autonomous Systems 1000年第1期1卷 187-210页

作者： Wilko Schwarting Javier Alonso-Mora Daniela Rus 1Computer Science and Artificial Intelligence Laboratory Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology Cambridge Massachusetts 02139 USA email: wilkos@csail.mit.edu rus@csail.mit.edu 2Department of Cognitive Robotics Delft University of Technology 2628 Delft The Netherlands email: j.alonsomora@tudelft.nl

In this review, we provide an overview of emerging trends and challenges in the field of intelligent and autonomous, or self-driving, vehicles. Recent advances in the field of perception, planning, and decision-making for autonomous vehicles have led to great improvements in functional capabilities, with several prototypes already driving on our roads and streets. Yet challenges remain regarding guaranteed performance and safety under all driving circumstances. For instance, planning methods that provide safe and system-compliant performance in complex, cluttered environments while modeling the uncertain interaction with other traffic participants are required. Furthermore, new paradigms, such as interactive planning and end-to-end learning, open up questions regarding safety and reliability that need to be addressed. In this survey, we emphasize recent approaches for integrated perception and planning and for behavior-aware planning, many of which rely on machine learning. This raises the question of verification and safety, which we also touch upon. Finally, we discuss the state of the art and remaining challenges for managing fleets of autonomous vehicles.

关键词： autonomous vehicles intelligent vehicles decision-making motion planning artificial intelligence verification fleet management

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Advances in robotics 1

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丛书名： Lecture Notes in computer science

1000年

作者： Jong-Hwan Kim Shuzhi Sam Ge Prahlad Vadakkepat Abdullah Al Manum Norbert Jesse Sadasivan Puthusserypady K Ulrich Rückert Joaquin Sitte Ulf Witkowski Ryohei Nakatsu Jacky Baltes John Anderson Igor Verner

ISBN: (数字)9783642039836

ISBN: (纸本)9783642039829

th This volume is an edition of the papers selected from the 12 FIRA RoboWorld C- gress, held in Incheon, Korea, August 16–18, 2009. The Federation of International Robosoccer Association (FIRA – www. fira. net) is a non-profit organization, which organizes robotic competitions and meetings around the globe annually. The RoboSoccer competitions started in 1996 and FIRA was - tablished on June 5, 1997. The Robot Soccer competitions are aimed at promoting the spirit of science and technology to the younger generation. The congress is a forum in which to share ideas and future directions of technologies, and to enlarge the human networks in robotics area. The objectives of the FIRA Cup and Congress are to explore the technical dev- opment and achievement in the field of robotics, and provide participants with a robot festival including technical presentations, robot soccer competitions and exhibits - der the theme “Where Theory and Practice Meet. ” th Under the umbrella of the 12 FIRA RoboWorld Congress Incheon 2009, six int- national conferences were held for greater impact and scientific exchange: th • 6 International Conference on Computational Intelligence, robotics and Autonomous Systems (CIRAS) th • 5 International Symposium on Autonomous Minirobots for Research and Edutainment (AMiRE) • International Conference on Social robotics (ICSR) • International Conference on Advanced Humanoid robotics Research (ICAHRR) • International Conference on Entertainment robotics (ICER) • International robotics Education Forum (IREF) This volume consists of selected quality papers from the six conferences.

关键词： Artificial Intelligence User Interfaces and Human computer Interaction computers and Society computers and Education Personal Computing computer Appl. in Social and Behavioral sciences

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Modular Reconfigurable robotics

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Control, robotics, and Autonomous Systems 1000年第1期2卷 63-88页

作者： Jungwon Seo Jamie Paik Mark Yim 1Department of Mechanical and Aerospace Engineering and Department of Electronic and Computer Engineering The Hong Kong University of Science and Technology Hong Kong China email: junseo@ust.hk 2Reconfigurable Robotics Laboratory École Polytechnique Fédérale de Lausanne (EPFL) 1015 Lausanne Switzerland email: jamie.paik@epfl.ch 3General Robotics Automation Sensing and Perception (GRASP) Laboratory University of Pennsylvania Philadelphia Pennsylvania 19104 USA email: yim@seas.upenn.edu

This article reviews the current state of the art in the development of modular reconfigurable robot (MRR) systems and suggests promising future research directions. A wide variety of MRR systems have been presented to date, and these robots promise to be versatile, robust, and low cost compared with other conventional robot systems. MRR systems thus have the potential to outperform traditional systems with a fixed morphology when carrying out tasks that require a high level of flexibility. We begin by introducing the taxonomy of MRRs based on their hardware architecture. We then examine recent progress in the hardware and the software technologies for MRRs, along with remaining technical issues. We conclude with a discussion of open challenges and future research directions.

关键词： cellular and modular robots distributed robot systems multirobot systems reconfigurable robots

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Simulation, Modeling, and Programming for Autonomous Robots 1

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丛书名： Lecture Notes in computer science

1000年

作者： Davide Brugali Jan F. Broenink Torsten Kroeger Bruce A. MacDonald

ISBN: (数字)9783319119007

ISBN: (纸本)9783319118994

This book constitutes the refereed proceedings of the 4th International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2014, held in Bergamo, Italy, in October 2014.;The 49 revised full papers presented were carefully reviewed and selected from 62 submissions. The papers are organized in topical sections on simulation, modeling, programming, architectures, methods and tools, and systems and applications.

关键词： Artificial Intelligence Simulation and Modeling User Interfaces and Human computer Interaction Computation by Abstract Devices computer Communication Networks Software Engineering

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robotics Research 1

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丛书名： Springer Tracts in Advanced robotics

1000年

作者： Sebastian Thrun Rodney Brooks Hugh Durrant-Whyte

ISBN: (数字)9783540481133

ISBN: (纸本)9783540481102;9783642080050

robotics is undergoing a major transformation in scope and dimension. From a largely dominant industrial focus, robotics is rapidly expanding into human environments and vigorously engaged in its new challenges. Interacting with, assisting, serving, and exploring with humans, the emerging robots will increasingly touch people and their lives. The Springer Tracts in Advanced robotics (STAR) is devoted to bringing to the research community the latest advances in the robotics field on the basis of their significance and quality. Through a wide and timely dis semination of critical research developments in robotics, our objective with this series is to promote more exchanges and collaborations among the re searchers in the community and contribute to further advancements in this rapidly growing field. As one of robotics pioneering symposia, the International Symposium on robotics Research (ISRR) has established over the past two decades some of the fields most fundamental and lasting contributions. Since the launching of STAR, ISRR and several other thematic symposia in robotics find an important platform for closer links and extended reach within the robotics community. This twelfth edition of robotics Research, edited by Sebastian Thrun, Rodney Brooks, and Hugh Durrant-Whyte, offers in its 14-part volume a collection of a broad range of topics in robotics. The content of these contributions provides a wide coverage of the current state of robotics research: the advances and challenges in its theoretical foundation and technology basis, and the developments in its traditional and novel areas of apphcations.

关键词： robotics and Automation Control, robotics, Mechatronics Artificial Intelligence Systems Theory, Control

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Advanced Teleoperation and Robot Learning for Dexterous Manipulation 1

Advanced Teleoperation and Robot Learning for Dexterous Mani...

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丛书名： Springer Tracts in Advanced robotics

1000年

作者： Chenguang Yang Zhenyu Lu Ning Wang

ISBN: (数字)9783031785016

ISBN: (纸本)9783031785009;9783031785030

This book offers an in-depth exploration of the interdisciplinary field of dexterous robotic manipulation, focusing on advanced methods that enable robots to autonomously learn, adapt, and perform a variety of tasks. It covers key topics such as teleoperation systems, advanced control frameworks, and bio-inspired autonomous learning. The book stands out by providing a comprehensive examination of both the technical and theoretical aspects of dexterous manipulation, with a particular emphasis on integrating advanced control and autonomous learning. The book is primarily aimed at researchers, engineers, and graduate students in the fields of robotics, artificial intelligence, and control systems. It is particularly useful for those interested in robotic manipulation, autonomous learning, and bio-inspired systems. The detailed technical explanations and cutting-edge research make it an essential resource for professionals seeking to push the boundaries of robotic dexterous manipulation. The book’s practical applications make it relevant for many real-world manipulation scenarios, including healthcare and manufacturing.

关键词： Control, robotics, Mechatronics robotics Control and Systems Theory Computational Intelligence

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