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检索条件"机构=Distributed Intelligent Systems and Algorithms"

共 86 条记录，以下是51-60 订阅

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Safety issues in human-robot interactions

Safety issues in human-robot interactions

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： Milos Vasic Aude Billard Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering Ecole Polytechnique Federale de Lausanne Lausanne Switzerland Learning Algorithms and Systems Laboratory School of Engineering Ecole Polytechnique Federale de Lausanne Lausanne Switzerland

Safety is an important consideration in human-robot interactions (HRI). Robots can perform powerful movements that can cause hazards to humans surrounding them. To prevent accidents, it is important to identify sources of potential harm, to determine which of the persons in the robot's vicinity may be in greatest peril and to assess the type of injuries the robot may cause to this person. This survey starts with a review of the safety issues in industrial settings, where robots manipulate dangerous tools and move with extreme rapidity and force. We then move to covering issues related to the growing numbers of autonomous mobile robots that operate in crowded (human-inhabited) environments. We discuss the potential benefits of fully autonomous cars on safety on roads and for pedestrians. Lastly, we cover safety issues related to assistive robots.

关键词： Robot sensing systems Service robots Hazards Accidents Injuries

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Real-time Optimization of Trajectories that Guarantee the Rendezvous of Mobile Robots

Real-time Optimization of Trajectories that Guarantee the Re...

引用

IEEE/RSJ International Conference on intelligent Robotics and systems

作者： Sven Gowal Alcherio Martinoli Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering Ecole Polytechnique Fédérale de Lausanne.

ISBN: (纸本)9781467317375

Since the 1960s, consensus problems have puzzled the minds of many researchers in fields ranging from computer science to information aggregation. In this work, although specifically addressing the rendezvous problem for a team of mobile robots, we develop a methodology that can also be applied to other consensus problems, where optimality is important and where non-holonomicity characterizes the system at hand. In particular, we consider a group of differential-wheeled robots endowed with noisy relative positioning capabilities. We develop a distributed, real-time optimization method based on a receding horizon controller that minimizes a user-defined cost whilst guaranteeing the rendezvous. Finally, we perform experiments on real robots to confirm the validity of our approach.

关键词： ranging where non-holonomicity positioning rendezvous Mobile robots distance measurement trajectory optimization method Patient Positioning computer science optimality Robot

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Online model estimation of ultra-wideband TDOA measurements for mobile robot localization

Online model estimation of ultra-wideband TDOA measurements ...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： Amanda Prorok Lukas Gonon Alcherio Martinoli Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering Ecole Polytechnique Fédéral de Lausanne Switzerland

Ultra-wideband (UWB) localization is a recent technology that promises to outperform many indoor localization methods currently available. Yet, non-line-of-sight (NLOS) positioning scenarios can create large biases in the time-difference-of-arrival (TDOA) measurements, and must be addressed with accurate measurement models in order to avoid significant localization errors. In this work, we first develop an efficient, closed-form TDOA error model and analyze its estimation characteristics by calculating the Cramér-Rao lower bound (CRLB). We subsequently detail how an online Expectation Maximization (EM) algorithm is adopted to find an elegant formalism for the maximum likelihood estimate of the model parameters. We perform real experiments on a mobile robot equipped with an UWB emitter, and show that the online estimation algorithm leads to excellent localization performance due to its ability to adapt to the varying NLOS path conditions over time.

关键词： Mathematical model Base stations Equations Estimation Measurement uncertainty Robots Position measurement

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Low-cost collaborative localization for large-scale multi-robot systems

Low-cost collaborative localization for large-scale multi-ro...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Amanda Prorok Alexander Bahr Alcherio Martinoli Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering Ecole Polytechnique Fédéral de Lausanne Switzerland

Large numbers of collaborating robots are advantageous for solving distributed problems. In order to efficiently solve the task at hand, the robots often need accurate localization. In this work, we address the localization problem by developing a solution that has low computational and sensing requirements, and that is easily deployed on large robot teams composed of cheap robots. We build upon a real-time, particle-filter based localization algorithm that is completely decentralized and scalable, and accommodates realistic robot assumptions including noisy sensors, and asynchronous and lossy communication. In order to further reduce this algorithm's overall complexity, we propose a low-cost particle clustering method, which is particularly well suited to the collaborative localization problem. Our approach is experimentally validated on a team of ten real robots.

关键词： Robot kinematics Robot sensing systems Clustering algorithms Complexity theory Collaboration Partitioning algorithms

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A new collision warning system for lead vehicles in rear-end collisions

A new collision warning system for lead vehicles in rear-end...

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IEEE Symposium on intelligent Vehicle

作者： Adrian Cabrera Sven Gowal Alcherio Martinoli Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering Ecole Polytechnique Fédérale de Lausanne Switzerland

Collision Warning systems (CWS) are safety systems designed to warn the driver about an imminent collision. A CWS monitors the dynamic state of the traffic in realtime by processing information from various proprioceptive and exteroceptive sensors. It assesses the potential threat level and decides whether a warning should be issued to the driver through auditory and/or visual signals. Several measures have already been defined for threat assessment and various CWS have been proposed in literature. In this paper, we will focus on two time-based measures that assess both front and rear collision threats. In particular, a new threat metric, the time-to-last-second-acceleration (T lsa ), for lead vehicles in rear-end collision is proposed and compared with its counterpart, the time-to-last-second-braking (T lsb ) [18]. The T lsa is a novel time-based approach that focuses on the lead vehicle (as opposed to the following vehicle). It inherits the properties of the T lsb and, as such, is coherent with the human judgement of urgency and severity of threats. It directly quantifies the threat level of the current dynamic situation before a required evasive action (i.e. maximum acceleration) needs to be applied. Furthermore, different warning thresholds are proposed by considering the average driver reaction time. Its effect on decreasing the severity of a rear-end collision is studied and its reliability is tested using a well-established physics-based robotics simulator, namely Webots [13].

关键词： Vehicles Acceleration Visualization Vehicle dynamics Sensors Equations Mathematical model

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Real-time automated modeling and control of self-assembling systems

Real-time automated modeling and control of self-assembling ...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： Grégory Mermoud Massimo Mastrangeli Utkarsh Upadhyay Alcherio Martinoli Distributed Intelligent Systems and Algorithms Laboratory (DISAL) School of Architecture Civil and Environmental Engineering École Polytechnique Fédérale de Lausanne Switzerland

We present the M 3 framework, a formal and generic computational framework for modeling and controlling stochastic distributed systems of purely reactive robots in an automated and real-time fashion. Based on the trajectories of the robots, the framework builds up an internal microscopic representation of the system, which then serves as a blueprint of models at higher abstraction levels. These models are then calibrated using a Maximum Likelihood Estimation (MLE) algorithm. We illustrate the structure and performance of the framework by performing the online optimization of a bang-bang controller for the stochastic self-assembly of water-floating, magnetically latching, passive modules. The experimental results demonstrate that the generated models can successfully optimize the assembly of desired structures.

关键词： Robots Computational modeling Trajectory Aerospace electronics Coordinate measuring machines Stochastic processes Real time systems

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Dynamic Positioning of Beacon Vehicles for Cooperative Underwater Navigation

Dynamic Positioning of Beacon Vehicles for Cooperative Under...

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IEEE/RSJ International Conference on intelligent Robotics and systems

作者： Alexander Bahr John J. Leonard Alcherio Martinoli Distributed Intelligent Systems and Algorithms Laboratory at the Ecole Poly-technique Fédérale de Lausanne， Lausanne， Switzerland Department of Mechanical Engineering at Massachusetts Institute of Technology Cambridge MA USA

ISBN: (纸本)9781467317375

Autonomous Underwater Vehicles (AUVs) are used for an ever increasing range of applications due to the maturing of the technology. Due to the absence of the GPS signal underwater, the correct estimation of its position is a challenge for submerged vehicles. One promising strategy to mitigate this problem is to use a group of AUVs where one or more assume the role of a beacon vehicle which has a very accurate position estimate due to an expensive navigation suite or frequent surfacings. These beacon vehicles broadcast their position and the remaining survey vehicles can use this position information and intra-vehicle ranges to update their position estimate. The effectiveness of this approach strongly depends on the geometry between the beacon vehicles and the survey vehicles. The trajectories of the beacon vehicles should thus be planned with the goal to minimize the position uncertainty of the survey vehicles. We propose a distributed algorithm which dynamically computes the locally optimal position for a beacon vehicle using only information obtained from broadcast communication of the survey vehicles. It does not need prior information about the survey vehicles' trajectory and can be used for any group size of beacon and survey vehicles.

关键词： AUVs GPS survey vehicles vehicle Autonomous underwater vehicles Underwater navigation position estimation Global Positioning systems Group Size POSITION INFORMATION Dynamic positioning distributed algorithms

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Formalizing Institutions as Executable Petri Nets for distributed Robotic systems 11

Formalizing Institutions as Executable Petri Nets for Distri...

引用

11th European Conference on Artificial Life, ECAL 2011

作者： Pereira, José N. Silva, Porfírio Lima, Pedro U. Martinoli, Alcherio Distributed Intelligent Systems and Algorithms Laboratory EPFL Lausanne Switzerland Intelligent Robots and Systems Group Institute for Systems and Robotics Lisbon Portugal

ISBN: (纸本)9780262297141

Institutional Robotics is a new approach to the coordination of distributed robotic systems, drawing inspiration from social sciences. It aims to provide a comprehensive strategy for specifying social interactions among robots in the form of institutions. In this paper, we present a formalism for institutions in the Institutional Robotics model. We apply this formalism to two case studies. The first is concerned with a swarm of simple robots which has to maintain wireless connectivity. The second focuses on role allocation in a robotic team aimed at improving coordination and performance in a transportation task. © 2011 ECAL 2011: The 11th European Conference on Artificial Life. All rights reserved.

关键词： Robotics

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Measuring sensible heat flux with high spatial density

Measuring sensible heat flux with high spatial density

引用

IEEE Sensors Applications Symposium, SAS

作者： Alexander Bahr Chris Evans Alcherio Martinoli Hendrik Huwald Chad Higgins Marc Parlange Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering Ecole Polytechnique Fédérale de Lausanne Lausanne Switzerland Environmental Fluid Mechanics and Hydrology School of Architecture Civil and Environmental Engineering Ecole Polytechnique Fédérale de Lausanne Lausanne Switzerland

Sensible heat flux is an essential quantity in the surface energy budget. Information about it is crucial for the derivation of models of air-surface interaction which in turn are needed for larger scale climate models. Sensible heat flux varies greatly across short distances and thus many sensors are required in order to obtain measurements of sufficient spatial density. The standard measurement method however requires expensive equipment which constrains the deployment of a large number of sensors. Our work implements a method relying only on the variance of the measured temperature to compute the sensible heat flux. We first verify the validity of this method and then modify Sensorscope, a commercially available weather station, to capture the required data. The resulting setup is able to provide sensible heat flux measurements with high spatial density in near real time at negligible additional cost.

关键词： Temperature sensors Temperature measurement Heating Microcontrollers Fluid flow measurement Frequency measurement

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Modeling and benchmarking Ultra-Wideband localization for mobile robots

Modeling and benchmarking Ultra-Wideband localization for mo...

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IEEE International Conference on Ubiquitous Wireless Broadband (ICUWB)

作者： Alexander Bahr Alexander Feldman James Colli-Vignarellii Stephan Robert Catherine Dehollaini Alcherio Martinoli Distributed Intelligent Systems and Algorithms Laboratory Ecole Polytechnique Federale de Lausanne (EPFL) Switzerland Institute for Information and Communication Technologies Haute Ecole d'Ingenierie et de Gestion du Canton de Vaud (HEIG-VD) Switzerland Institute for Information and Communication Technologies Haute Ecole d'Ingénierie et de Gestion du Canton de Vaud (HEIG-VD) Ecole Polytechnique Federale de Lausanne Lausanne VD CH

Ultra-Wideband Impulse Radio (UWB-IR) is a technology that has great potential to solve numerous mobile robotic and asset tracking problems in GPS-denied environments. Our goal is to help software and hardware designers in improving the state-of-the-art in UWB-based robotic localization. We developed a test-bed where an UWB transmitter is attached to a mobile robot. By combining the received signals with the robot's position log acquired through the dead-reckoning sensors, we obtain UWB signals which are well referenced with respect to the transmitter-receiver distance and orientation. In addition, we provide a model for every component of the setup. The entire setup allows us to simulate from first principles every aspect of an UWB localization system and then to implement low-level signal processing as well as higher-level modulation and localization techniques. We implement an Automatic Gain Control (AGC) algorithm to demonstrate the rapid proto-typing capabilities of the test-bed. Our work shows how an UWB robotic system and its models can be involved in all phases of the development of a technology that can help robot's navigation, localization and communication algorithms.

关键词： Receivers Numerical models Gain control Mathematical model Transmitters Mobile robots

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