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Planar Spline Trajectory Following for an Autonomous Helicopter

Journal of Advanced Computational Intelligence and Intelligent Informatics 2004年第3期8卷 237-242页

作者： Harbick, Kale Montgomery, James F. Sukhatme, Gaurav S. Robotic Embedded Systems Laboratory Center for Robotics and Embedded Systems Department of Computer Science University of Southern California Los AngelesCA90089-0781 United States Jet Propulsion Laboratory California Institute of Technology 4800 Oak Grove Drive PasadenaCA91109-8099 United States

This paper proposes a technique for planar trajectory following for an autonomous aerial robot. A trajectory is modeled as a planar spline. A behavior-based control system which stabilizes the robot and enforces trajectory following, has been implemented and tested on an autonomous helicopter. Results from two flight experiments are presented. The trajectory tracking error is on the order of the size of the robot (1.8 m). Given the inherent error in GPS positioning, and environmental disturbances (wind), this is quite reasonable. © Fuji Technology Press Ltd. Creative Commons CC BY-ND: This is an Open Access article distributed under the terms of the Creative Commons Attribution-NoDerivatives 4.0 International License (http://***/licenses/by-nd/4.0/).

关键词： Unmanned aerial vehicles (UAV)

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Autonomous deployment and repair of a sensor network using an unmanned aerial vehicle

Autonomous deployment and repair of a sensor network using a...

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IEEE International Conference on robotics and Automation

作者： Corke, P Hrabar, S Peterson, R Rus, D Saripalli, S Sukhatme, G CSIRO Mfg./Infrastruct. Technology Queensland QLD Australia Department of Computer Science Dartmouth College Hanover NH United States Comp. Sci./Artif. Intell. Laboratory Massachusetts Inst. of Technology Cambridge MA United States Ctr. for Robotics/Embedded Systems University of Southern California Los Angeles CA United States

ISBN: (纸本)0780382323

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

关键词： Robots

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Autonomous deployment and repair of a sensor network using an unmanned aerial vehicle

Autonomous deployment and repair of a sensor network using a...

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IEEE International Conference on robotics and Automation (ICRA)

作者： P. Corke S. Hrabar R. Peterson D. Rus S. Saripalli G. Sukhatme CSIRO Manufacturing and Infrastructure Technology QLD Australia Center for Robotics and Embedded Systems University of Southern California Los Angeles CA USA Department of Computer Science Dartmouth College Hanover NH USA Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge MA USA

关键词： Unmanned aerial vehicles Helicopters Robot sensing systems Mobile robots Network topology Remotely operated vehicles computer science Monitoring Ad hoc networks Aircraft navigation

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Modular hybrid Petri nets for studying multi-operational production systems where parts follow multiple alternative processes

Modular hybrid Petri nets for studying multi-operational pro...

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IEEE International Conference on robotics and Automation (ICRA)

作者： G.J. Tsinarakis K.P. Valavanis Intelligent Systems and Robotics Laboratory Department of Production Engineering and Management Technical University of Crete Chania Greece Department of Computer Science and Engineering University of South Florida Center for Robot-Assisted Search and Rescue Tampa FL USA

This work presents a modular hybrid timed Petri net (MHTPN) methodology used to study multi-operational production systems in which parts are used for the production of different product types. This research generalizes work presented in Tsinarakis, GJ et al., (2003) that studied production systems where all parts of the same type were used for the production of a type of final products following a common route. 3 fundamental system modules are derived; their MHTPN models are defined, followed by modules synthesis to obtain the overall system Petri net. For any topology, system's nodes and invariants are calculated. Applicability of the method is illustrated through an analytical example.

关键词： Petri nets Production systems Topology Fluid dynamics Assembly Intelligent robots Hybrid intelligent systems Laboratories Production engineering Engineering management

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Panel: given that hardware verification has been an uphill battle, what is the future of software verification?

Panel: given that hardware verification has been an uphill b...

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ACM and IEEE International Conference on Formal Methods and Models for Co-Design (MEMOCODE)

作者： S.K. Shukla T. Bultan C. Heitmeyer FERMAT Laboratory Center for Embedded Systems for Critical Applications Virginia Technology Blacksburg VA USA Department of Computer Science University of California슠Santa Barbara Santa Barbara CA USA Naval Research Laboratory Inc. Washington D.C. USA

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Poster abstract: Sensor network as a distributed manager for multi-robot task allocation

Poster abstract: Sensor network as a distributed manager for...

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SenSys'03: Proceedings of the First International Conference on embedded Networked Sensor systems

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

ISBN: (纸本)1581137079

Multi-Robot Task Allocation (MRTA) where robots have to be allocated dynamically to tasks was studied using sensor network. Sensor network computes task assignments and then guides the robots to tasks efficiently. The solution to the MRTA problem that requires groups of robots to be formed was proposed. The practical aspects in implementing algorithms on physical systems were discussed.

关键词： Robots

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Coverage, exploration, and deployment by a mobile robot and communication network

Coverage, exploration, and deployment by a mobile robot and ...

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2nd International Workshop on Information Processing in Sensor Networks, IPSN 2003

作者： Batalin, Maxim A. Sukhatme, Gaurav S. Robotic Embedded Systems Lab Computer Science Department Center for Robotics and Embedded Systems University of Southern California Los AngelesCA90089 United States

ISBN: (纸本)9783540021117

We consider the problem of coverage and exploration of an unknown dynamic environment using a mobile robot(s). The environment is assumed to be large enough such that constant motion by the robot(s) is needed to cover the environment. We present an efficient minimalist algorithm which assumes that global information is not available (neither a map, nor GPS). Our algorithm deploys a network of radio beacons which assists the robot(s) in coverage. This network is also used for navigation. The deployed network can also be used for applications other than coverage. Simulation experiments are presented which show the collaboration between the deployed network and mobile robot(s) for the tasks of coverage/exploration, network deployment and maintenance (repair), and mobile robot(s) recovery (homing behavior). We present a theoretical basis for our algorithm on graphs and show the results of the simulated scenario experiments. © Springer-Verlag Berlin Heidelberg 2003.

关键词： Mobile robots

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Human motion-based environment complexity measures for robotics

Human motion-based environment complexity measures for robot...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

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

This paper describes how environmental complexity measures can be employed in the process of validating experimental robotics work. We advocate the use of metrics that attempt to quantify the 'difficulty' of motion for a given environment. Space syntax methods (from the urban and building design literature) and fluid-flow models (used in crowd modeling) are described and proposed as relevant measures for mobile robotics domains. We show experimentally that these two metrics give very different expressions of complexity. We then discuss how, given their properties, these different metrics may be applied to robotics controller design and evaluation.

关键词： Humans Orbital robotics Motion measurement Mobile robots Robot sensing systems Time measurement Extraterrestrial measurements Robot vision systems embedded system computer science

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Multi-robot task-allocation through vacancy chains

Multi-robot task-allocation through vacancy chains

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IEEE International Conference on robotics and Automation (ICRA)

作者： T.S. Dahl M.J. Mataric G.S. Sukhatme Robotics Research Laboratory Center for Robotics and Embedded Systems Department of Computer Science University of Southern California USA

This paper presents an algorithm for task allocation in groups of homogeneous robots. The algorithm is based on vacancy chains, a resource distribution strategy common in human and animal societies. We define a class of task-allocation problems for which the vacancy chain algorithm is suitable and demonstrate how reinforcement learning can be used to make vacancy chains emerge in a group of behavior-based robots. Experiments in simulation show that the vacancy chain algorithm consistently outperforms random and static task allocation algorithms when individual robots are prone to distractions or breakdowns, or when task priorities change.

关键词： Scheduling algorithm Resource management Humans Learning Robot sensing systems Laboratories embedded system computer science Animals Electric breakdown

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Sensor network-based multi-robot task allocation

Sensor network-based multi-robot task allocation

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IEEE International Workshop on Intelligent Robots and systems (IROS)

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

We present DINTA, distributed in-network task allocation - a novel paradigm for multi-robot task allocation (MRTA) where tasks are allocated implicitly to robots by a pre-deployed, static sensor network. Experimental results with a simulated alarm scenario show that our approach is able to compute solutions to the MRTA problem in a distributed fashion. We compared our approach to a strategy where robots use the deployed sensor network for efficient exploration. The data show that our approach outperforms such an exploration-only algorithm. The data also provide evidence that the proposed algorithm is more stable than the exploration-only algorithm.

关键词： Robot sensing systems Navigation computer networks Distributed computing embedded system Mobile robots Laboratories computer science Sensor systems Computational modeling

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