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检索条件"机构=Distributed Robotics Lab"

共 32 条记录，以下是21-30 订阅

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Minimum uncertainty latent variable models for robot recognition of sequential human activities

Minimum uncertainty latent variable models for robot recogni...

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2017 IEEE International Conference on robotics and Automation, ICRA 2017

作者： Han, Fei Reardon, Christopher Parker, Lynne E. Zhang, Hao Human-Centered Robotics Lab Department of Computer Science Colorado School of Mines GoldenCO80401 United States US Army Research Laboratory AdelphiMD20783 United States Distributed Intelligence Laboratory Department of Electrical Engineering and Computer Science University of Tennessee TN37996 United States

ISBN: (纸本)9781509046331

Recognition of sequential human activities, such as 'sitting down' and 'standing up', is a common but challenging problem in human-robot interaction, which requires modeling their underlying temporal patterns. Although previous sequence modeling methods, such as Hidden Conditional Random Fields (HCRFs), demonstrated satisfactory recognition accuracy, they do not explicitly model the uncertainty in underlying temporal patterns, which can provide valuable information to characterize sequential activities. To address this problem, we introduce a novel Minimum Uncertainty HCRF (MU, or μHCRF). Different from traditional HCRF-based techniques that only utilize the negative log-likelihood of the categories' conditional probability as the loss function, the proposed μ-HCRF also introduces a regularization term to model the underlying temporal pattern of the latent variables. As another theoretical contribution, we provide a derivation to show that the formulated problem has a closed-form solution, and prove that inference of the proposed μHCRF is tractable. Extensive empirical study is performed to evaluate our approach, using four public benchmark datasets. Experimental results have shown that our μHCRFs outperform previous techniques and achieve state-of-the-art performance on human activity recognition, especially on sequential activities. © 2017 IEEE.

关键词： Human robot interaction

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Planning Motions for a Planar Robot Attached to a Stiff Tether

Planning Motions for a Planar Robot Attached to a Stiff Teth...

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IEEE International Conference on robotics and Automation

作者： Reza H. Teshnizi Dylan A. Shell Distributed AI and Robotics Lab Dept. of Computer Science and Engineering Texas A&M University College Station 77843 USA

ISBN: (纸本)9781467380270

There are several practical reasons to endow a mobile robot with a tether, but doing so adds considerable complexity to the problem of moving the robot. The feasibility of a particular motion in such systems depends on topological constraints imposed by the interplay of the robot's tether and its environment. The physical properties of the tether may also rule out configurations that would be possible otherwise. Little work has addressed these latter constraints, despite the considerable interest in motion planning for tethered robots recently. We examine the problem of planning motions of a planar robot connected via a cable of limited length to a fixed point in R~2 when the tether has a constraint on its curvature, which adds appreciably to the realism of the cable model over existing work. We incorporate Dubins's theory of curves with work on planning with topological constraints to concisely represent the configuration space manifold, leading to an atlas of the manifold consisting of locally continuous charts that represent the cable's curvature limits conveniently. Any configuration of the tether and the robot is described in our representation with two elements: (1) a discrete structure that characterizes the cable's position and (2) an element within a single continuous chart. We provide an algorithm that explores the necessary parts of this atlas on-the-fly to locate paths efficiently.

关键词： Motions Planar Robot

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SRAC: Self-Reflective Risk-Aware Artificial Cognitive Models for Robot Response to Human Activities

SRAC: Self-Reflective Risk-Aware Artificial Cognitive Models...

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IEEE International Conference on robotics and Automation

作者： Hao Zhang Christopher Reardon Fei Han Lynne E. Parker the Human-Centered Robotics Lab in the Department of Computer Science and Electrical Engineering Colorado School of Mines Golden CO 80401 USA the Distributed Intelligence Lab in the Department of Computer Science and Electrical Engineering University of Tennessee Knoxville TN 37996 USA.

ISBN: (纸本)9781467380270

In human-robot teaming, interpretation of human actions, recognition of new situations, and appropriate decision making are crucial abilities for cooperative robots ("co-robots") to interact intelligently with humans. Given an observation, it is important that human activities are interpreted the same way by co-robots as human peers so that robot actions can be appropriate to the activity at hand. A novel interpretability indicator is introduced to address this issue. When a robot encounters a new scenario, the pretrained activity recognition model, no matter how accurate in a known situation, may not produce the correct information necessary to act appropriately and safely in new situations. To effectively and safely interact with people, we introduce a new generalizability indicator that allows a co-robot to self-reflect and reason about when an observation falls outside the co-robot's learned model. Based on topic modeling and the two novel indicators, we propose a new Self-reflective Risk-aware Artificial Cognitive (SRAC) model, which allows a robot to make better decisions by incorporating robot action risks and identifying new situations. Experiments both using real-world datasets and on physical robots suggest that our SRAC model significantly outperforms the traditional methodology and enables better decision making in response to human behaviors.

关键词： Models Robot Response

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Controlling closed-chain robots with compliant sma actuators: algorithms and experiments 12

Controlling closed-chain robots with compliant sma actuators...

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12th International Symposium on Experimental robotics, ISER 2010

作者： Gilpin, Kyle Torres-Jara, Eduardo Rus, Daniela Distributed Robotics Lab Massachusetts Institute of Technology 32 Vassar St CambridgeMA02139 United States

ISBN: (纸本)9783642285714

In this paper we present algorithms, devices, simulations, and experiments concerning a robot that locomotes using novel compliant, sheet-based, shape memory alloy actuators. Specifically, we describe the theory and practical implementation of a provably correct algorithm capable of generating locomotion gaits in closed-loop linkages. We implement this algorithm in a distributed fashion on the HexRoller, a closed-chain robot with six low-stiffness actuators. We describe these actuators in detail and characterize their performance along with that of the robot. © Springer-Verlag Berlin Heidelberg 2014.

关键词： Actuators

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Smallest enclosing ball for probabilistic data 14

Smallest enclosing ball for probabilistic data

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30th Annual Symposium on Computational Geometry, SoCG 2014

作者： Munteanu, Alexander Sohler, Christian Feldman, Dan Department of Computer Science TU Dortmund D-44227 Dortmund Germany Distributed Robotics Lab Massachusetts Institute of Technology Cambridge MA 02139 United States

ISBN: (纸本)9781450325943

This paper deals with computing the smallest enclosing ball of a set of points subject to probabilistic data. In our setting, any of the n points may not or may occur at one of finitely many locations, following its own discrete probability distribution. The objective is therefore considered to be a random variable and we aim at finding a center minimizing the expected maximum distance to the points according to their distributions. Our main contribution presented in this paper is the first polynomial time (1 + Ε)-approximation algorithm for the probabilistic smallest enclosing ball problem with extensions to the streaming setting. Copyright 2014 ACM.

关键词： Approximation algorithms

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Turning Big data into tiny data: Constant-size coresets for k-means, PCA and projective clustering 13

Turning Big data into tiny data: Constant-size coresets for ...

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Symposium on Discrete Algorithms

作者： Dan Feldman Melanie Schmidt Christian Sohlert MIT Distributed Robotics Lab. TU Dortmund Germany

ISBN: (纸本)9781627484855

We prove that the sum of the squared Euclidean distances from the n rows of an n × d matrix A to any compact set that is spanned by k vectors in ?~d can be approximated up to (l + ε)-factor, for an arbitrary small ε > 0, using the O(k/ε~2)-rank approximation of A and a constant. This implies, for example, that the optimal k-means clustering of the rows of A is (1+ε)-approximated by an optimal k-means clustering of their projection on the O(k/ε~2) first right singular vectors (principle components) of A. A (j, k)-coreset for projective clustering is a small set of points that yields a (1 + e)-approximation to the sum of squared distances from the n rows of A to any set of k affine subspaces, each of dimension at most j. Our embedding yields (O, k)-coresets of size O(k) for handling k-means queries, (j, l)-coresets of size O(j) for PCA queries, and (j, k)-coresets of size (logn)~(O(jk)) for any j,k ≥ 1 and constant ε ∈ (0,1/2). Previous coresets usually have a size which is linearly or even exponentially dependent of d, which makes them useless when d ~ n. Using our coresets with the merge-and-reduce approach, we obtain embarrassingly parallel streaming algorithms for problems such as k-means, PCA and projective clustering. These algorithms use update time per point and memory that is polynomial in log n and only linear in d. For cost functions other than squared Euclidean distances we suggest a simple recursive coreset construction that produces coresets of size k~(1/?O(1)) for k-means and a special class of bregman divergences that is less dependent on the properties of the squared Euclidean distance.

关键词： Constant-size coresets projective clustering bregman divergences big data Cluster Analysis Set of points principal components analysis Passive Cutaneous Anaphylaxis refresh time Euclidean distance Euclidean

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Programming and controlling self-folding robots

Programming and controlling self-folding robots

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IEEE International Conference on robotics and Automation (ICRA)

作者： Byoungkwon An Daniela Rus Distributed Robotics Lab CSAIL MIT USA

This paper describes a robot in the form of a self-folding sheet that is capable of origami-style autonomous folding. We describe the hardware device we designed and fabricated. The device is a sheet with a box-pleated pattern and an integrated electronic substrate and actuators. The sheet is programmed and controlled to achieve different shapes using an idea called sticker programming. We describe the sticker controller and its instantiation. We also describe the algorithms for programming and controlling a given sheet to self-fold into a desired shape. Finally we present experiments with a 4×4 hardware device and an 8×8 hardware device.

关键词： Actuators Shape Robots Programming Algorithm design and analysis Tiles Sockets

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Persistent Ocean Monitoring with Underwater Gliders: Towards Accurate Reconstruction of Dynamic Ocean Processes

Persistent Ocean Monitoring with Underwater Gliders: Towards...

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2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Ryan N. Smith Mac Schwager Daniela Rus Stephen L. Smith Gaurav S. Sukhatme School of Engineering Systems at the Queensland University of Technology BrisbaneQLD4000 Australia GRASP Lab University of PennsylvaniaPhiladelphiaPA 19104USA Distributed Robotics Lab Computer Science and Artificial Intelligence LaboratoryMassachusetts Insti Robotic Embedded Systems Laboratory Department of Computer ScienceUniversity of Southern California

This paper proposes a path planning algorithm and a velocity control algorithm for underwater gliders to persistently monitor a patch of ocean. The algorithms address a pressing need among ocean scientists to collect high-value data for studying ocean events of scientific and environmental interest, such as the occurrence of harmful algal blooms. The path planner optimizes a cost function that blends two competing factors: it maximizes the information value of the path, while minimizing the deviation from the path due to ocean currents. The speed control algorithm then optimizes the speed along the planned path so that higher resolution samples are collected in areas of higher information value. The resulting paths are closed circuits that can be repeatedly traversed to collect long term ocean data in dynamic environments. The algorithms were tested during sea trials on an underwater glider operating off the coast of southern California over the course of several weeks. The results show significant improvements in data resolution and path reliability compared to a sampling path that is typically used in the region.

关键词： Oceans Heuristic algorithms Vehicles Monitoring Sea measurements Vehicle dynamics Read only memory

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Situational method engineering applied for the enactment of development processes - An agent based approach

Situational method engineering applied for the enactment of ...

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作者： Seemueller, Holger Voos, Holger Honke, Benjamin Bauer, Bernhard Mobile Robotics and Mechatronics Lab. University of Applied Sciences Ravensburg-Weingarten D-88241 Weingarten Germany Programming Distributed Systems Lab. Institute of Computer Science University of Augsburg D-86135 Augsburg Germany

ISBN: (纸本)9789898425065

Interdisciplinary product development is faced with the collaboration of diverse roles and a multitude of interrelated artifacts. Traditional and sequential process models cannot deal with the long-lasting and dynamic behavior of the development processes of today. Moreover, development processes have to be tailored to the needs of the projects, which are usually distributed today. Thus, keeping these projects on track from a methodology point of view is difficult. In order to deal with these challenges, this paper will present a novel method engineering and enactment approach. It combines the ideas of workflow technologies and product line engineering for method engineering as well as agent technology for the development process enactment.

关键词： Multi agent systems

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On Adaptive Self-Organization in Artificial Robot Organisms

On Adaptive Self-Organization in Artificial Robot Organisms

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Future Computing, Service Computation, Cognitive, Adaptive, Content, Patterns, Computation World:

作者： Serge Kernbach Heiko Hamann Jürgen Stradner Ronald Thenius Thomas Schmickl Karl Crailsheim A.C. van Rossum Michele Sebag Nicolas Bredeche Yao Yao Guy Baele Yves Van de Peer Jon Timmis Maizura Mohktar Andy Tyrrell A.E. Eiben S.P. McKibbin Wenguo Liu Alan F.T. Winfield Institute of Parallel and Distributed Systems University of Stuttgart Germany Artificial Life Lab Karl-Franzens-University Graz Graz Austria Almende B. V. Rotterdam Netherlands TAO LRI Univ. Paris-Sud CNRS INRIA Saclay France VIB Department Plant Systems Biology Ghent University Belgium University of York York United Kingdom Free University Amsterdam Netherlands Materials and Engineering Research Institute (MERI) Sheffield Hallam University Bristol Robotics Laboratory (BRL) UWE Bristol UK Bristol Robotics Laboratory (BRL) UWE Bristol

Self-organization in natural systems demonstrates very reliable and scalable collective behavior without using any central elements. When providing collective robotic systems with self-organizing principles, we are facing new problems of making self-organization purposeful, self-adapting to changing environments and faster, in order to meet requirements from a technical perspective. This paper describes on-going work of creating such an artificial self-organization within artificial robot organisms, performed in the framework of several European projects.

关键词： Robots Organisms Peer to peer computing Centralized control Control systems Scalability Cognitive robotics Plants (biology) Systems biology Biological materials

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