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

共 98 条记录，以下是41-50 订阅

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Collision avoidance with limited field of view sensing: A velocity obstacle approach

Collision avoidance with limited field of view sensing: A ve...

引用

2017 IEEE International Conference on Robotics and Automation, ICRA 2017

作者： Roelofsen, Steven Gillet, Denis Martinoli, Alcherio Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering École Polytechnique Fédérale de Lausanne United States Coordination and Interaction System Group School of Engineering École Polytechnique Fédérale de Lausanne United States

ISBN: (纸本)9781509046331

Collision avoidance, in particular between robots, is an important component for autonomous robots. It is a necessary component in numerous applications such as humanrobot interaction, automotive or unmanned aerial vehicles. While many collision avoidance algorithms take into account actuation constraints, only a few consider sensing limitations. In this paper, we present a reciprocal collision avoidance algorithm based on the velocity obstacle approach that guarantees collision-free maneuvers even when the robots are only capable to sense their environment within a limited Field Of View (FOV). We also present the challenges associated to sensors with limited FOV, show the conditions under which maneuvering can be safely done, and the modifications that a velocity obstacle approach requires to satisfy such conditions. We provide simulations and real robot experiments to validate our approach. © 2017 IEEE.

关键词： Collision avoidance

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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 ...

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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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Graph based distributed control of non-holonomic vehicles endowed with local positioning information engaged in escorting missions

Graph based distributed control of non-holonomic vehicles en...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Riccardo Falconi Sven Gowal Alcherio Martinoli Dipartimento di Elettronica Universita di Bologna Italy Distributed Intelligent Systems and Algorithms Laboratory Ecole Polytechnique Federale de Lausanne Switzerland

Using graph theory, this paper investigates how a group of robots, endowed with local positioning (range and bearing from other robots), can be engaged in a leader-following mission whilst keeping a predefined configuration. The possibility to locally change the behaviors of the follower team to accomodate both tasks is explored. In particular, a methodology to automatically adjust the parameters of the inter-robot interactions and a nonlinear PI controller are explained and implemented. Our approach is supported by a mathematical analysis as well as real robot experiments.

关键词： Distributed control Vehicles Robots Robotics and automation Graph theory USA Councils Automatic control Mathematical analysis Multiagent systems Communication networks

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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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On-Board Vision-Based 3D Relative Localization System for Multiple Quadrotors

On-Board Vision-Based 3D Relative Localization System for Mu...

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IEEE International Conference on Robotics and Automation

作者： Duarte Dias Rodrigo Ventura Pedro Lima Alcherio Martinoli Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering école Polytechnique Fédérale de Lausanne Switzerland

ISBN: (纸本)9781467380270

This work proposes a novel relative localization system, based on active markers and an on-board camera, for tracking multiple quadrotors in a limited field of view. The system extracts the 3D poses of the markers including one that, by pulsating at a predefined frequency, provides an unique platform ID. We discuss how the camera field of view can be explored in presence of multiple targets, and what are the conditions on the system visibility that lead to the establishment of bidirectional sensing between robots with similar sensing capabilities. A visibility analysis is conducted to show that the developed relative localization system meets such requirements, and a closed-loop experiment is used to validate its performance under these conditions. Finally, its performance is compared with other results from the literature, and a metric is established with the intent of mapping different design solutions, facilitating design choices in presence of different requirements.

关键词： Multiple Quadrotors presence different requirements

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Evolutionary Multi-Criterion Optimization 1

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丛书名： Lecture Notes in Computer Science

1000年

作者： Carlos M. Fonseca Peter J. Fleming Eckart Zitzler Lothar Thiele Kalyanmoy Deb

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Characterization and validation of a novel robotic system for fluid-mediated programmable stochastic self-assembly

Characterization and validation of a novel robotic system fo...

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IEEE/RSJ International Conference on intelligent Robots and systems

作者： Bahar Haghighat Alcherio Martinoli Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering école Polytechnique Fédérale de Lausanne Switzerland

ISBN: (纸本)9781509037636

Several self-assembly systems have been developed in recent years, where depending on the capabilities of the building blocks and the controlability of the environment, the assembly process is guided typically through either a fully centralized or a fully distributed control approach. In this work, we present a novel experimental system for studying the range of fully centralized to fully distributed control strategies. The system is built around the floating 3-cm-sized Lily robots, and comprises a water-filled tank with peripheral pumps, an overhead camera, an overhead projector, and a workstation capable of controlling the fluidic flow field, setting the ambient luminosity, communicating with the robots over radio, and visually tracking their trajectories. We carry out several experiments to characterize the system and validate its capabilities. First, a statistical analysis is conducted to show that the system is governed by reaction diffusion dynamics, and validate the applicability of the standard chemical kinetics modeling. Additionally, the natural tendency of the system for structure formation subject to different flow fields is investigated and corresponding implications on guiding the self-assembly process are discussed. Finally, two control approaches are studied: 1) a fully distributed control approach and 2) a distributed approach with additional central supervision exhibiting an improved performance. The formation time statistics are compared and a discussion on the generalization of the method is provided.

关键词： Stochastic processes Wireless communication Robot sensing systems Process control Decentralized control Trajectory

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Two-phase online calibration for infrared-based inter-robot positioning modules

Two-phase online calibration for infrared-based inter-robot ...

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2011 IEEE/RSJ International Conference on intelligent Robots and systems

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

Multi-robot systems can solve complex tasks that require the coordination of the team-member positions with respect to each other. While the development of ad-hoc relative positioning platforms embedding cheap off-the-shelf components is a practical choice, it leads not only to differences between the platforms themselves, but also to a high sensitivity to external factors. In this paper, we present a novel lightweight online calibration method composed of two phases, capable of running on miniature robots with limited computational capabilities. Furthermore, by exploiting a Gaussian process regression in its second phase, the proposed calibration approach is able to capture deviations from an assumed underlying physical model. We compare the performance of our approach with the theoretical Cramér-Rao lower bound and test its efficiency on real robots equipped with range and bearing modules.

关键词： Calibration Receivers Mathematical model Robot sensing systems Least squares approximation Ground penetrating radar

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