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

共 163 条记录，以下是121-130 订阅

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The role of physical embodiment in human-robot interaction

The role of physical embodiment in human-robot interaction

引用

RO-MAN 2006 - The 15th IEEE International Symposium on Robot and Human Interactive Communication

作者： Wainer, Joshua Feil-Seifer, David J. Shell, Dylan A. Mataric, Maja J. Department of Computer Science Center for Robotics and Embedded Systems University of Southern California Los Angeles CA 90089-0781 United States

ISBN: (纸本)1424405653

Autonomous robots are agents with physical bodies that share our environment. In this work, we test the hypothesis that physical embodiment has a measurable effect on performance and perception of social interactions. Support of this hypothesis would suggest fundamental differences between virtual agents and robots from a social standpoint and have significant implications for human-robot interaction. We measure task performance and perception of a robot's social abilities in a structured but open-ended task based on the Towers of Hanoi puzzle. Our experiment compares aspects of embodiment by evaluating: (1) the difference between a physical robot and a simulated one;(2) the effect of physical presence through a co-located robot versus a remote tele-present robot. We present data from a pilot study with 12 subjects showing interesting differences in perception of remote physical robot's and simulated agent's attention to the task, and task enjoyment. © 2006 IEEE.

关键词： Human robot interaction

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On foraging strategies for large-scale multi-robot systems

On foraging strategies for large-scale multi-robot systems

引用

2006 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Dylan A. Shell Maja J. Mataric Interaction Laboratory Center for Robotics and Embedded Systems Department of Computer Science University of Southern California Los Angeles CA USA

Physical interference limits the utility of large-scale multi-robot systems. We present an empirical study of the effects of such interference in systems with hundreds of minimalist robots. We consider the canonical multi-robot foraging task, and define a new parametrized controller. This controller allows for evaluation of spatial arbitration strategies along a continuum with the traditional homogeneous and bucket-brigading algorithms at each end. We present data from thousands of simulations which suggests that methods surprisingly close to homogeneous foraging, but augmented with limited arbitration, can improve both performance and reliability

关键词： Large-scale systems Multirobot systems Interference Orbital robotics Intelligent robots Robustness Laboratories embedded system computer science USA Councils

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Deployment and connectivity repair of a sensor net with a flying robot

Deployment and connectivity repair of a sensor net with a fl...

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9th International Symposium on Experimental robotics (ISER)

作者： Corke, P Hrabar, S Peterson, R Rus, D Saripalli, S Sukhatme, G CSIRO ICT Centre Australia Center for Robotics and Embedded Systems University of Southern California Los AngelesCA United States Dartmouth Computer Science Department HanoverNH03755 United States Computer Science and Artificial Intelligence Laboratory MIT CambridgeMA02139 United States

ISBN: (纸本)3540288163

We consider multi-robot systems that include sensor nodes and aerial or ground robots networked together. Such networks are suitable for tasks such as large-scale environmental monitoring or for command and control in emergency situations. We present a sensor network deployment method using autonomous aerial vehicles and describe in detail the algorithms used for deployment and for measuring network connectivity and provide experimental data collected from field trials. A particular focus is on determining gaps in connectivity of the deployed network and generating a plan for repair, to complete the connectivity. This project is the result of a collaboration between three robotics labs (CSIRO, USC, and Dartmouth.).

关键词： Repair

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A visual servoing approach for tracking features in urban areas using an autonomous helicopter

A visual servoing approach for tracking features in urban ar...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： L. Mejias P. Campoy S. Saripalli G.S. Sukhatme Computer Vision Group Universidad Politécnica de Madrid Madrid Spain Robotic Embedded Systems Laboratory Center for Robotics and Embedded Systems Department of Computer Science University of Southern California Los Angeles CA USA

The use of unmanned aerial vehicles (UAVs) in civilian and domestic applications is highly demanding, requiring a high-level of capability from the vehicles. This work addresses the design and implementation of a vision-based feature tracker for an autonomous helicopter. Using vision in the control loop allows estimating the position and velocity of a set of features with respect to the helicopter. The helicopter is then autonomously guided to track these features (in this case windows in an urban environment) in real time. The results obtained from flight trials in a real world scenario demonstrate that the algorithm for tracking features in an urban environment, used for visual servoing of an autonomous helicopter is reliable and robust

关键词： Visual servoing Urban areas Helicopters Aircraft navigation Machine vision Control systems Unmanned aerial vehicles Global Positioning System computer vision Robot vision systems

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Static Energy Saving Through Multi-Bank Memory Architecture

Static Energy Saving Through Multi-Bank Memory Architecture

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International Conference on embedded computer systems: Architectures, Modeling and Simulation (IC-SAMOS)

作者： Sebastien Lafond Johan Lilius Embedded Systems Laboratory Turku Center for Computer Science Turku Finland Department of Information Technologies Abo Akademi University Abohar Finland

Managing the energy consumption of embedded systems has become a major problem with the increasing demand for portable electronic devices. This paper proposes a multi-bank memory architecture as a solution to decrease the static energy cost in memory. We set up the equations ruling the optimization problem for decreasing the memory static energy cost, analyze the impact of different parameters on the energy cost and finally present some case study results

关键词： Memory architecture Energy consumption Cost function Consumer electronics Equations computer architecture Application software computer science embedded system Laboratories

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The analysis of an efficient algorithm for robot coverage and exploration based on sensor network deployment

The analysis of an efficient algorithm for robot coverage an...

引用

2005 IEEE International Conference on robotics and Automation

作者： Batalin, Maxim A. Sukhatme, Gaurav S. Computer Science Department Center for Robotics and Embedded Systems University of Southern California Los Angeles CA 90089 United States

ISBN: (纸本)078038914X

In this paper we present the design and theoretical analysis of a novel algorithm (LRV) that efficiently solves the problems of coverage, exploration and sensor network deployment at the same time. The basic premise behind the algorithm is that the robot carries network nodes as a payload, and in the process of moving around, emplaces the nodes into the environment based on certain local criteria. In turn, the nodes emit navigation directions for the robot as it goes by. Nodes recommend directions least recently visited by the robot, hence the name LRV. We formally establish the following two properties: 1. LRV is complete on graphs, and 2. LRV is optimal on trees. We present some experimental conjectures for LRV on regular square lattice graphs and compare its performance empirically to other graph exploration algorithms. © 2005 IEEE.

关键词： Mobile robots

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Autonomous terrain mapping and classification using hidden Markov models

Autonomous terrain mapping and classification using hidden M...

引用

2005 IEEE International Conference on robotics and Automation

作者： Wolf, Denis F. Sukhatme, Gaurav S. Fox, Dieter Burgard, Wolfram Robotic Embedded Systems Laboratory Department of Computer Science University of Southern California Los Angeles CA United States Robotics and State Estimation Laboratory Department of Computer Science and Engineering University of Washington Seattle WA United States Department of Computer Science University of Freiburg Freiburg Germany

ISBN: (纸本)078038914X

This paper presents a new approach for terrain mapping and classification using mobile robots with 2D laser range finders. Our algorithm generates 3D terrain maps and classifies navigable and non-navigable regions on those maps using Hidden Markov models. The maps generated by our approach can be used for path planning, navigation, local obstacle avoidance, detection of changes in the terrain, and object recognition. We propose a map segmentation algorithm based on Markov Random Fields, which removes small errors in the classification. In order to validate our algorithms, we present experimental results using two robotic platforms. ©2005 IEEE.

关键词： Mobile robots

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The Analysis of an Efficient Algorithm for Robot Coverage and Exploration based on Sensor Network Deployment

The Analysis of an Efficient Algorithm for Robot Coverage an...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： M.A. Batalin G.S. Sukhatme Robotic Embedded Systems Laboratory Center for Robotics and Embedded Systems Computer Science Department University of Southern California Los Angeles CA USA

关键词： Algorithm design and analysis Robot sensing systems Sensor systems embedded system Payloads Navigation Laboratories computer science Tree graphs Lattices

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Towards geometric 3D mapping of outdoor environments using mobile robots

Towards geometric 3D mapping of outdoor environments using m...

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2005 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： D. Wolf A. Howard G.S. Sukhatme Robotic Embedded Systems Laboratory Center for Robotics and Embedded Systems Department of Computer Science University of Southern California Los Angeles CA USA

This paper presents an approach to generating compact 3D maps of urban environments using mobile robots and laser range finders. Our algorithm extracts planar information from 3D point cloud maps. The planar representation is very efficient for representing building structures in urban environments when a high level of detail is not required. We also present preliminary results on 3D geometric mapping with incomplete data. Based on previously known models and incomplete data, our system is able to estimate parts of buildings which have never been seen before. As validation, we present experimental results using a Segway RMP vehicle in two environments, both approximately the size of a city block.

关键词： Mobile robots Terrain mapping Vehicles Indoor environments embedded system Data mining Clouds Buildings Robot sensing systems Data acquisition

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Task allocation for event-aware spatiotemporal sampling of environmental variables

Task allocation for event-aware spatiotemporal sampling of e...

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2005 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： M.A. Batalin G.S. Sukhatme Yan Yu R. Pon J. Gordon M.H. Rahimi W.J. Kaiser G.J. Pottie D.E. Estrin Center for Robotics and Embedded Systems Robotic Embedded Systems Laboratory Computer Science Department University of Southern California Los Angeles CA USA Department of Computer Science Center for Embedded Networked Sensing University of California Los Angeles CA USA Department of Electrical Engineering Center for Embedded Networked Sensing University of California Los Angeles CA USA

Monitoring of environmental phenomena with embedded networked sensing confronts the challenges of both unpredictable variability in the spatial distribution of phenomena coupled with the demands for a high spatial sampling rate in three dimensions. For example, low distortion mapping of critical solar radiation properties in forest environments may require two-dimensional spatial sampling rates of greater than 10 samples/m/sup 2/ over transects exceeding 1000 m/sup 2/. Clearly, adequate sampling coverage of such transect requires an impractically large number of sensing nodes. A new approach, networked infomechanical system (NIMS), has been introduced to combine autonomous-articulated and static sensor nodes enabling sufficient spatiotemporal sampling density over large transects to meet a general set of environmental mapping demands. This paper describes our work on the critical parts of NIMS, the task allocation module. We present our methodologies and the two basic greedy task allocation policies - based on time of the task arrival (time policy) and distance from the robot to the task (distance policy). We present results from NIMS deployed in a forest reserve and from a lab testbed. The results show that both policies are adequate for the task of spatiotemporal sampling, but also complement each other. Finally, we suggest the future direction of research that would both help us better quantify the performance of our system and create more complex policies.

关键词： Spatiotemporal phenomena Sampling methods Sensor phenomena and characterization Solar radiation Mobile robots Atmospheric measurements Ecosystems Robot sensing systems embedded system computer science

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