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检索条件"机构=Interaction Laboratory Center for Robotics and Embedded Systems Department of Computer Science"

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Planning for serendipity

Planning for serendipity

引用

IEEE/RSJ International Conference on Intelligent Robots and systems

作者： T. Chakraborti G. Briggs K. Talamadupula Yu Zhang M. Scheutz D. Smith S. Kambhampati Department of Computer Science Arizona State University Tempe AZ USA HRI Laboratory Tufts University Medford MA USA Cognitive Learning Department at IBM Thomas J. Watson Research Center NY USA Tufts University Medford MA US Autonomous Systems & Robotics Intelligent Systems Division NASA Ames Research Center NY USA

Recently there has been a lot of focus on human robot co-habitation issues that are often orthogonal to many aspects of human-robot teaming;e.g. on producing socially acceptable behaviors of robots and de-conflicting plans of robots and humans in shared environments. However, an interesting offshoot of these settings that has largely been overlooked is the problem of planning for serendipity - i.e. planning for stigmergic collaboration without explicit commitments on agents in co-habitation. In this paper we formalize this notion of planning for serendipity for the first time, and provide an Integer Programming based solution for this problem. Further, we illustrate the different modes of this planning technique on a typical Urban Search and Rescue scenario and show a real-life implementation of the ideas on the Nao Robot interacting with a human colleague.

关键词： Planning Robot kinematics Collaboration Context Robot sensing systems Handover

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Control Strategies for a Humanoid Robot to Drive and then Egress a Utility Vehicle for Remote Approach

Control Strategies for a Humanoid Robot to Drive and then Eg...

引用

IEEE-RAS International Conference on Humanoid Robots

作者： Hyobin Jeong Jaesung Oh Mingeuk Kim Kyungdon Joo In So Kweon Jun-Ho Oh Humanoid Research Center School of Mechanical Aerospace & Systems Engineering Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Robotics and Computer Vision Laboratory School of Mechanical Aerospace & Systems Engineering Department of Electrical Engineering Korea Advanced Institute of Science and Technology Department of Electrical Engineering KAIST

ISBN: (纸本)9781479968862

This paper proposes strategies for the driving and egress of a vehicle with a humanoid robot. To drive the vehicle, the RANSAC method was used to detect obstacles, and the Wagon model was used to control the steering and velocity of the vehicle with only a limited number of sensors which were installed on the humanoid robot. Additionally, a manual teleoperating method was used with the lane projection technique. For the egress motion, gain override and the Cartesian position/force control technique were used to interact with the vehicle structure. To overcome the disadvantages of a highly geared manipulator, a special technique was used that included modelled friction compensation and a non-complementary switching mode. DRC-HUBO+ used the proposed method to perform a vehicle driving and egress task in the DRC finals 2015.

关键词： Humanoid robots EGRESS vehicle Vehicle driving Automobile driving UTILITY VEHICLES control strategy friction compensation DRIVES Steering

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Predicting the Speed of a Wave Glider Autonomous Surface Vehicle from Wave Model Data

Predicting the Speed of a Wave Glider Autonomous Surface Veh...

引用

IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Phillip Ngo Jnaneshwar Das Jonathan Ogle Jesse Thomas Will Anderson Ryan N. Smith School of Electrical Engineering and Computer Science Queensland University of Technology Brisbane QLD 4001 Australia Robotic Embedded Systems Laboratory University of Southern California Los Angeles CA USA Physics and Engineering Department Fort Lewis College Durango CO USA Liquid Robotics Inc. Sunnyvale CA USA

ISBN: (纸本)9781479969357

A key component of robotic path planning for monitoring dynamic events is reliable navigation to the right place at the right time. For persistent monitoring applications (e.g., over months), marine robots are beginning to make use of the environment for propulsion, instead of depending on traditional motors and propellers. These vehicles are able to realize dramatically higher endurance by exploiting wave and wind energy, however the path planning problem becomes difficult as the vehicle speed is no longer directly controllable. In this paper, we examine Gaussian process models to predict the speed of the Wave Glider autonomous surface vehicle from observable environmental parameters. Using training data from an on-board sensor, and wave parameter forecasts from the WAVEWATCH III model, our probabilistic regression models create an effective method for predicting Wave Glider speed for use in a variety of path planning applications.

关键词： Ground vehicles Path planning Vehicle speed speed Crucial components A wave

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Social Adaptation of Robots for Modulating Self-Organization in Animal Societies

Social Adaptation of Robots for Modulating Self-Organization...

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IEEE International Conference on Self-Adaptive and Self-Organizing systems Workshops, SASOW

作者： Payam Zahadat Michael Bodi Ziad Salem Frank Bonnet Marcelo Elias De Oliveira Francesco Mondada Karlo Griparic Tomislav Haus Stjepan Bogdan Rob Mills Pedro Mariano Luis Correia Olga Kernbach Serge Kernbach Thomas Schmickl Artificial Life Laboratory of the Department of Zoology Karl-Franzens University Graz Austria Computer Engineering Department Aleppo University Syrian Arab Republic Rbotic Systems Laboratory Swiss Federal Institute of Technology (EPFL) Lausanne Switzerland Ecole Polytechnique Federale de Lausanne Lausanne VD CH Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Zagreb Croatia Universidade de Lisboa Lisboa Lisboa PT Cybertronica Research Research Center of Advanced Robotics and Environmental Science Stuttgart Germany

The goal of the work presented here is to influence the overall behaviour of specific animal societies by integrating computational mechatronic devices (robots) into those societies. To do so, these devices should be accepted by the animals aspart of the society and/or as part of the collectively formed environment. For that, we have developed two sets of robotic hardware for integrating into societies of two different animals: zebra fish and young honeybees. We also developed mechanisms to provide feedback from the behaviours of societies for the controllers of the robotic system. Two different computational methods are then used as the controllers of the robots in simulation and successfully adapted by evolutionary algorithms to influence the simulated animals for desired behaviours. Together, these advances in mechatronic hardware, feedback mechanisms, and controller methodology are laying essential foundations to facilitate experiments on modulating self-organised behaviour in mixed animal -- robot societies.

关键词： Animals Heating Vibrations Robot sensing systems Hardware Biochemistry

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An analysis of regression models for predicting the speed of a wave glider autonomous surface vehicle

An analysis of regression models for predicting the speed of...

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2013 Australasian Conference on robotics and Automation, ACRA 2013

作者： Ngo, Phillip Al-Sabban, Wesam Thomas, Jesse Anderson, Will Das, Jnashewar Smith, Ryan N. Electrical Engineering and Computer Science Queensland University of Technology BrisbaneQLD Australia Liquid Robotics Inc. Sunnyvale SunnyvaleCA United States Robotics Embedded Systems Laboratory University of Southern California Los AngelesCA United States Physics and Engineering Department Fort Lewis College DurangoCO United States

ISBN: (纸本)9780980740448

An important aspect of robotic path planning for is ensuring that the vehicle is in the best location to collect the data necessary for the problem at hand. Given that features of in- terest are dynamic and move with oceanic cur- rents, vehicle speed is an important factor in any planning exercises to ensure vehicles are at the right place at the right time. Here, we examine different Gaussian process models to find a suitable predictive kinematic model that enable the speed of an underactuated, au- tonomous surface vehicle to be accurately pre- dicted given a set of input environmental pa-rameters.

关键词： Motion planning

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An Investigation on the Accuracy of Regional Ocean Models Through Field Trials

An Investigation on the Accuracy of Regional Ocean Models Th...

引用

IEEE International Conference on robotics and Automation

作者： Ryan N. Smith Kimia Nazarzadeh Jonathan Kelly Gaurav S. Sukhatme School of Electrical Engineering and Computer Science Queensland University of Technology Brisbane QLD 4001 Australia. Robust Robotics Group Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge MA 02142 USA. Robotic Embedded Systems Laboratory Department of Computer Science University of Southern California Los Angeles CA 90089 USA.

ISBN: (纸本)9781467356404

Recent efforts in mission planning for underwater vehicles have utilised predictive models to aid in navigation, optimal path planning and drive opportunistic sampling. Although these models provide information at a unprecedented resolutions and have proven to increase accuracy and effectiveness in multiple campaigns, most are deterministic in nature. Thus, predictions cannot be incorporated into probabilistic planning frameworks, nor do they provide any metric on the variance or confidence of the output variables. In this paper, we provide an initial investigation into determining the confidence of ocean model predictions based on the results of multiple field deployments of two autonomous underwater vehicles. For multiple missions of two autonomous gliders conducted over a two-month period in 2011, we compare actual vehicle executions to simulations of the same missions through the Regional Ocean Modeling System in an ocean region off the coast of southern California. This comparison provides a qualitative analysis of the current velocity predictions for areas within the selected deployment region. Ultimately, we present a spatial heat-map of the correlation between the ocean model predictions and the actual mission executions. Knowing where the model provides unreliable predictions can be incorporated into planners to increase the utility and application of the deterministic estimations.

关键词： Regional Ocean Models Through Field Trials mission planning underwater vehicles

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Human-robotic collaborative intelligent control for reaching performance

Human-robotic collaborative intelligent control for reaching...

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7th International Conference on Foundations of Augmented Cognition, AC 2013, Held as Part of 15th International Conference on Human-computer interaction, HCI International 2013

作者： Gentili, Rodolphe J. Oh, Hyuk Shuggi, Isabelle M. Goodman, Ronald N. Rietschel, Jeremy C. Hatfield, Bradley D. Reggia, James A. Department of Kinesiology Cognitive Motor Neuroscience Laboratory University of Maryland College Park MD 20742 United States Neuroscience and Cognitive Science Program University of Maryland College Park MD 20742 United States Maryland Robotics Center University of Maryland College Park MD 20742 United States Institute for Systems Research University of Maryland College Park MD 20742 United States Veterans Health Administration Maryland Exercise and Robotics Center of Excellence Baltimore MD 21201 United States Department of Computer Science University of Maryland College Park MD 20742 United States Maryland Institute for Advanced Computer Studies University of Maryland College Park MD 20742 United States

ISBN: (纸本)9783642394539

In most human-robot interfaces, the user completely controls the robot that operates as a passive tool without adaptation capabilities. However, a synergetic human-robot interface where both agents collaborate could improve the user's performance while reducing the cognitive and physical workload. Specifically, when considering this framework applied to rehabilitation, we examined a shared collaborative control between a human user and an adaptive biologically inspired neurocontroller in order to perform reaching movements with a simulated prosthetic arm. When this neurocontroller was enabled, it progressively learned from the user to control the prosthetic arm, increasing its role in the shared performance and facilitating the user's reaching movements. This resulted in the user's performance enhancement and in a reduction of his/her cognitive workload. The long term goal of this work is to contribute to the development of the next generation of intelligent human-robotic interfaces for rehabilitation. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Adaptive control systems

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An Efficient Hybridization Scheme for Stacked Mesh 3D NoC Architecture

An Efficient Hybridization Scheme for Stacked Mesh 3D NoC Ar...

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Euromicro Conference on Parallel, Distributed and Network-Based Processing

作者： Amir-Mohammad Rahmani Pasi Liljeberg Juha Plosila Hannu Tenhunen Turku Center for Computer Science Finland Embedded Computer Systems Laboratory Department of Information Technology University of Turku Finland

Three-dimensional (3D) integration is a viable design paradigm to overcome the existing interconnect bottleneck in integrated systems and enhance system power/performance characteristics. In order to exploit the intrinsic capability of reducing the wire length in 3D ICs, stacked mesh 3D NoC architecture was proposed. However, this architecture suffers from naive and straightforward hybridization between NoC and bus media. In this paper, an efficient hybridization scheme is presented to enhance system performance, power consumption, and area of stacked mesh 3D NoC architectures. By utilizing a routing rule called LastZ the proposed hybridization scheme offers many advantages investigated in detail to emphasize the significant achievements. Our extensive simulations with synthetic and real benchmarks, including an integrated videoconference application show that compared to a typical 3D NoC-Bus Hybrid Mesh architecture, our hybridization scheme achieves significant power, performance, and area improvements.

关键词： Three dimensional displays Routing computer architecture Power demand Through-silicon vias Throughput Hybrid power systems

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ARB-NET: A novel adaptive monitoring platform for stacked mesh 3D NoC architectures

ARB-NET: A novel adaptive monitoring platform for stacked me...

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Asia and South Pacific Design Automation Conference

作者： Amir-Mohammad Rahmani Khalid Latif Kameswar Rao Vaddina Pasi Liljeberg Juha Plosila Hannu Tenhunen Turku Center for Computer Science Finland Department of Information Technology Embedded Computer Systems Laboratory University of Turku Finland

The emerging three-dimensional integrated circuits (3D ICs) offer a promising solution to mitigate the barriers of interconnect scaling in modern systems. In order to exploit the intrinsic capability of reducing the wire length in 3D ICs, 3D NoC-Bus Hybrid mesh architecture was proposed. Besides its various advantages in terms of area, power consumption, and performance, this architecture has a unique and hitherto previously unexplored way to implement an efficient system-wide monitoring network. In this paper, an integrated low-cost monitoring platform for 3D stacked mesh architectures is proposed which can be efficiently used for various system management purposes. The proposed generic monitoring platform called ARB-NET utilizes bus arbiters to exchange the monitoring information directly with each other without using the data network. As a test case, based on the proposed monitoring platform, a fully congestion-aware adaptive routing algorithm named AdaptiveXYZ is presented taking advantage from viable information generated within bus arbiters. Our extensive simulations with synthetic and real benchmarks reveal that our architecture using the AdaptiveXYZ routing can help achieving significant power and performance improvements compared to recently proposed stacked mesh 3D NoCs.

关键词： Monitoring Three dimensional displays Stress Routing computer architecture Measurement units System-on-a-chip

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Towards improving mission execution for autonomous gliders with an ocean model and kalman filter

Towards improving mission execution for autonomous gliders w...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Ryan N. Smith Jonathan Kelly Gaurav S. Sukhatme School of Engineering Systems Queensland University of Technology Brisbane QLD Australia Robust Robotics Group Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge MA USA Robotic Embedded Systems Laboratory Department of Computer Science University of Southern California Los Angeles CA USA

Effective execution of a planned path by an underwater vehicle is important for proper analysis of the gathered science data, as well as to ensure the safety of the vehicle during the mission. Here, we propose the use of an unscented Kalman filter to aid in determining how the planned mission is executed. Given a set of waypoints that define a planned path and a dicretization of the ocean currents from a regional ocean model, we present an approach to determine the time interval at which the glider should surface to maintain a prescribed tracking error, while also limiting its time on the ocean surface. We assume practical mission parameters provided from previous field trials for the problem set up, and provide the simulated results of the Kalman filter mission planning approach. The results are initially compared to data from prior field experiments in which an autonomous glider executed the same path without pre-planning. Then, the results are validated through field trials with multiple autonomous gliders implementing different surfacing intervals simultaneously while following the same path.

关键词： Navigation Vehicles Sea surface Trajectory Kalman filters Uncertainty

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