One of the many features needed to support the activities of autonomous systems is the ability to plan motion. This enables robots to move in their environment securely and to accomplish given tasks. Unfortunately, th...
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One of the many features needed to support the activities of autonomous systems is the ability to plan motion. This enables robots to move in their environment securely and to accomplish given tasks. Unfortunately, the control loop comprising sensing, planning, and acting has not yet been closed for robots in dynamic environments. One reason involves the long execution times of the motion planning component. A solution for this problem is offered by the use of highly parallel computation. Thus, an important task is the parallelization of existing motion planning algorithms for robots so that they are suitable for highly parallel computation. In several cases, completely new algorithms have to be designed, so that a parallelization is feasible. In this survey, we review recent approaches to motion planning using parallel computation. As a classification scheme, we use the structure given by the different approaches to the robot's motion planning. For each approach, the available parallel processing methods are discussed. Each approach is assigned a unique class. Finally, for each research work referenced, a list of keywords is given.
Robots have been a subject of research for almost half a century. In order to make robots more versatile they must be able to operate in a semi-structured work place where unforeseen events occur and where sensor data...
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Robots have been a subject of research for almost half a century. In order to make robots more versatile they must be able to operate in a semi-structured work place where unforeseen events occur and where sensor data are incomplete. An entire research community has been working on this problem and many unique autonomous and so-called intelligent robots have been conceived and built. Most of these efforts are concerned with robots that operate in the macroworld where they take on chores that could also be handled by humans. However, there is the macroworld in which manipulation and handling tasks are very difficult and for which a human has no tools and where the work area is so small that fine manual manipulation is almost impossible. This paper is concerned with autonomous robots that can operate in a microworld, where microassembly operations, microsurgery or integrated circuit testing and repair is done. For independent operations, these robots need special sensors and an efficient computer architecture that hosts the planner and executor. There are also special drive systems and effecters necessary for micromotions and micromanipulations, respectively. An attempt is made to describe these components and the problems encountered in configuring them to a microrobot. As an example of advanced microrobots, the design and functions of several autonomous microrobots of the University of Karlsruhe are shown;they employ different locomotion and subject handling principles. The paper also includes a discussion of the typical operating problems caused by the microworld and of future research that has to be done to conceive and build efficient microrobots.
This paper discusses the significance of communication between individual agents that are embedded into learning Multi-Agent systems. For several learning tasks occurring within a Multi-Agent System, communication act...
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In this paper we present a method for virtual 3D cutting operations in 3D tomographic data. When cutting interactively the user specifies a serie of 3D cutting points and correponding cut depths on the surface of the ...
Simulations of static and dynamic aspects of the functionality of the human body are getting more important as the complexity of operations increases. The preoperative planning of maxillofacial operations like the rep...
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While programming a telemanipulator the operator often uses special input devices to generate trajectories, which are to difficult for automatic planers. Though the trajectories are evaluated by a simulation and shown...
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Mobile microrobots, which are capable of performing microscopic motions, have become a subject of great interest all over the world, They have the potential to be used for a variety of applications: in industry for as...
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Mobile microrobots, which are capable of performing microscopic motions, have become a subject of great interest all over the world, They have the potential to be used for a variety of applications: in industry for assembly of microsystems or for the testing of silicon chips;in medicine for handling biological cells, etc. A new model of an automated micromanipulation station, which includes piezoelectric microrobots is now being built by an interdisciplinary research group at the University of Karlsruhe, Germany, This paper describes a sensor system and a powerful tailorable computer for controlling the micromanipulation station.
In this paper we present a reactive planning and control system for redundant manipulators based on multi-agents. It enables the reactive motion of manipulators in unknown environments by integrating sensor data. All ...
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In this paper we present a reactive planning and control system for redundant manipulators based on multi-agents. It enables the reactive motion of manipulators in unknown environments by integrating sensor data. All agent is responsible for calculating and controlling the motion of one joint, therefore it is called "joint agent". The agents, their communication and coordination are presented in this paper. Results are demonstrated for a 7-DOF redundant manipulator covered with tactile sensors.
This paper presents the different possibilities for parallel processing in robot control architectures. Initially, the authors briefly review the historic development of control architectures. Then, a list of requirem...
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This paper presents the different possibilities for parallel processing in robot control architectures. Initially, the authors briefly review the historic development of control architectures. Then, a list of requirements for control architectures is set up from a parallel processing point of view. As their main topic, they identify the levels of parallel processing in robot control architectures. With each level of parallelism, examples for a typical robot control architecture are presented. Finally, a list of keywords is provided for each previous work the authors refer to.
The application of manipulators in unknown or rapidly changing environments requires fast sensors and data evaluation as well as reactive integration into the robot control system. This paper describes an artificial s...
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The application of manipulators in unknown or rapidly changing environments requires fast sensors and data evaluation as well as reactive integration into the robot control system. This paper describes an artificial sensitive skin mounted on a robot manipulator developed in order to achieve this purpose. Therefore, different principles for tactile sensing are evaluated. By totally covering a body with tactile sensors every contact may be detected immediately. When evaluated reactively local integration leads to the immediate contact termination by causing a movement of the related robot joint. On the other hand, the skin may be used to establish or improve a map of the environment by selecting and executing appropriate exploratory movements. Experimental results are included to demonstrate the feasibility of the developed sensory system.
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