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Congress on Evolutionary Computation

作者： Micael S. Couceiro Rui P. Rocha Nuno M. F. Ferreira Patricia A. Vargas Institute of Systems and Robotics University of Coimbra Coimbra Portugal Department of Electrical Engineering Engineering Institute of Coimbra Robo Corporation Coimbra Portugal Robotics Laboratory School of Mathematical and Computer Science Heriot-Watt University Edinburgh UK

ISBN: (纸本)9781479904532

The Robotic Darwinian Particle Swarm Optimization (RDPSO) recently introduced in the literature has the ability to dynamically partition the whole population of robots based on simple “punish-reward” rules. Although this evolutionary algorithm enables the reduction of the amount of required information exchange among robots, a further analysis on the communication complexity of the RDPSO needs to be carried out so as to evaluate its scalability. This paper analyses the architecture of the RDPSO communication system, thus describing the dynamics of the communication data packet structure shared between teammates. Moreover, a set of simple communication rules is also proposed in order to reduce the communication overhead within swarms of robots. Experimental results with teams of 15 real robots show that the proposed methodology reduces the communication overhead, thus improving the scalability and applicability of the RDPSO algorithm.

关键词： Robot kinematics Robot sensing systems Mobile ad hoc networks Complexity theory Spread spectrum communication Force

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Observability analysis of 2D single beacon navigation in the presence of constant currents for two classes of maneuvers

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IFAC Proceedings Volumes 2013年第33期46卷 227-232页

作者： Naveena Crasta Mohammadreza Bayat A. Pedro Aguiar António M. Pascoal Institute for Automation and System Engineering Technical University of Ilmenau Ilmenau 98694 Germany Laboratory of Robotics and Systems in Engineering and Science (LARSyS) IST/University of Lisbon Av. Rovisco Pais 1 1049-001 Lisbon Portugal Faculty of Engineering University of Porto (FEUP) Rua Dr. Roberto Frias s/n 4200-465 Porto Portugal Adjunct Scientist National Institute of Oceanography (NIO) Goa India

We analyze the observability properties of an underwater vehicle (moving in 2D) performing single beacon navigation for two specific classes of maneuvers, whereby the vehicle measures its distance to a fixed transponder located at a known position using an acoustic ranging device. We show that in the presence of known ocean currents, the system is found to be globally observable for constant relative course and constant (nonzero) relative course rate inputs in the sense of Herman and Krener. On the other hand, with unknown ocean currents the system fails to be locally weakly observable with constant relative course but we characterize the set of indistinguishable states from a given initial position and ocean current configuration. Interestingly, observability can be achieved with constant (nonzero) relative course rate in the presence of unknown, constant ocean currents.

关键词： Single beacon navigation Range-only measurement Set of indistinguishable states Observability

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Optimal Sensor Placement for Acoustic Range-Based Underwater Robot Positioning

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IFAC Proceedings Volumes 2013年第33期46卷 215-220页

作者： Thomas Glotzbach David Moreno-Salinas Antonio Pascoal Joaquin Aranda Institute for Automation and Systems Engineering Ilmenau University of Technology Ilmenau Germany (Tel: +49-3677-69-4107) Departamento de Informática y Automática ETSI Informática Universidad Nacional de Educación a Distancia (UNED) Madrid Spain Laboratory of Robotics and Systems in Engineering and Science (LARSyS) Instituto Superior Técnico (IST) Univ. Lisbon Portugal Adjunct Scientist National Institute of Oceanography (NIO) Goa India

This paper addresses the problem of optimal sensor placement for acoustic range-based underwater target positioning. In particular, we focus on the experimental set-up whereby target positioning is performed by measuring the ranges between the underwater target and a number of surface units equipped with acoustic ranging devices and GPS. With the objective of affording the reader a concise overview of the main theoretical challenges involved, this paper starts with a survey of previous work done in the area, including that of the authors. By casting the problem at hand in the form of a classical estimation problem we describe and solve the equivalent mathematical problem of maximizing the determinant of a conveniently defined Fisher Information Matrix (FIM). The latter is related to the Cramér-Rao Bound, which equals the smallest possible position estimation error variance that can possibly be achieved with any unbiased estimator. To further clarify the presentation, the details of Monte Carlo simulations in 2D and 3D with a selected target positioning algorithm are included to confirm the theoretical results numerically.

关键词： Autonomous Underwater Vehicles Underwater Navigation Optimal Sensor Placement Fisher Information Matrix Cramér-Rao Bound Maximum Likelihood Estimation

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Four path following controllers for rhombic like vehicles

Four path following controllers for rhombic like vehicles

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IEEE International Conference on robotics and Automation (ICRA)

作者： Nuno Silva Luca Baglivo Alberto Vale Mariolino De Cecco Instituto de Plasmas e Fusão Nuclear-Instituto Superior Técnico Universidade Técnica de Lisboa Lisboa Portugal Laboratory of Robotics and Systems in Engineering and Science (LARSyS)-Instituto Superior Técnico Universidade Técnica de Lisboa Lisboa Portugal DIMS-Mechanical and Structural Engineering Department University of Trento Trento Italy

ISBN: (纸本)9781467356404

This paper addresses the path following problem of a wheeled mobile robot with rhombic like kinematics (two drivable and steerable wheels) operating in cluttered environments. Four path following controllers are developed to steer the kinematic model of a rhombic like vehicle (RLV) along a desired path: three are based on feedback laws derived at a kinematic level with geometrical inspiration; the fourth is a nonlinear controller built upon a kinematic model of the vehicle using Lyapunov functions. By fully exploiting the kinematic capabilities of this type of vehicles, all the developed controllers are capable of performing under two situations: when both wheels follow the same path, or when each wheel follows a different path. Simulated and experimental results are presented in the paper to illustrate the performance of the controllers. The main conclusions of these controllers are summarized, leading to a possible application in the vehicles that will operate in the remote handling missions of the International Thermonuclear Experimental Reactor (ITER).

关键词： Vehicles Wheels Kinematics Trajectory Feedback control Mobile robots Vectors

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Cooperative AUV Motion Planning using Terrain Information

Cooperative AUV Motion Planning using Terrain Information

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Oceans 2013 - Norway

作者： Andreas J. Hausler Alessandro Saccon Antonio M. Pascoal John Hauser A. Pedro Aguiar Laboratory of Robotics and Systems in Science and Engineering Instituto Superior Tecnico Department of Mechanical Engineering Eindhoven University of Technology Electrical Computer and Energy Engineering Department University of Colorado at Boulder Faculdade de Engenharia University of Porto

ISBN: (纸本)9781479900022

There is widespread interest in the deployment of fleets of marine robots with the potential to roam the oceans freely and collect data at an unprecedented scale. This calls for the development of efficient algorithms for multiple vehicle motion planning that can take directly into account the capabilities of each vehicle as well as the environmental conditions and lend themselves to seamless integration with control and navigation systems. The latter connection is for the most part eschewed in the literature, in spite of the obvious fact that in order for the vehicles to execute the planned motions they must at a later stage navigate with great accuracy and follow the trajectories using control algorithms that take explicitly into account the dynamical constraints of the vehicles involved. Among the methods available for underwater vehicle navigation, terrain-based techniques have recently come to the fore. These techniques avoid the use of overly expensive inertial-like motion sensor units and hold considerable promise for the development of a new breed of affordable long range navigation systems. Motivated by these considerations, we tackle in the present paper the problem of multiple vehicle motion planning by taking explicitly into consideration inter-vehicle collision avoidance, together with a number of criteria that may include simultaneous times of arrival at assigned target points, energy minimization, acoustic communication constraints, and the maximization of terrain information along the vehicle paths (as measured by some appropriate criterion) for terrain-based navigation purposes.

关键词： vehicle motion planning Collision avoidance terrains Autonomous underwater vehicles Data Collection Methods Navigation systems Computer algorithms

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Toward a Hybrid Approach to Generate Software Product Line Portfolios

Toward a Hybrid Approach to Generate Software Product Line P...

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IEEE Congress on Evolutionary Computation

作者： Jonathas Cruz Pedro Santos Neto Ricardo Britto Ricardo Rabelo Werney Ayala Thiago Soares Mauricio Mota Software Engineering and Industrial Informatics (EASII) Computer Science Department (DC) Federal University of Piaui (UFPI) LABoratory of Intelligent Robotics Automation and Systems (LABIRAS) State University of Piaui (UESPI)

ISBN: (纸本)9781479904532

Software Product Line (SPL) development is a new approach to software engineering that aims at the development of a whole range of products. One of the problems which hinders the adoption of that approach is related with the management of the products of the line. Additionally, the scope of a software product line is determined by the bounds of the capabilities provided by the collection of products in the product line. This introduces new challenges related to the scope problem. One of the main three different forms of scoping is the Product Portfolio Scoping (PPS). PPS aims at defining the products that should be developed as well as their key features. While this has an impact on the actual reuse opportunities, it is usually driven from marketing aspects. Defining a product portfolio by considering costumers satisfaction and cost aspects is a NP-hard problem. This work presents a hybrid approach, which combines fuzzy inference systems and the multi-objective metaheuristics NSGA-II to support product management by generating portfolios of products, based in segments of users and the development cost of the assets of the SPL. Fuzzy inference systems are used to generate development cost of an asset by using coupling, number of code lines and cyclomatic complexity and also to estimate the quality of the products generated by the optimization module of our approach. The NSGA-II metaheuristic is used to search for products minimizing the cost and maximizing the relevance of the candidate products. The results show that the proposed approach is effective in proposing the best products in terms of relevance and cost of the assets.

关键词： Portfolios Correlation Fuzzy logic Indexes Optimization Couplings Complexity theory

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Real-time navigation for a humanoid robot using particle filter

Real-time navigation for a humanoid robot using particle fil...

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2nd International Conference on engineering and Technology Innovation 2012, ICETI 2012

作者： Baltes, Jacky Cheng, Chi Tai Lau, Meng Cheng Espínola, Andrés Autonomous Agents Lab Department of Computer Science University of Manitoba Winnipeg MB R3T 2N2 Canada Department of Electrical Engineering Tamkang University Tamsui Dist. New Taipei City 25137 Taiwan Mobile Robotics and Automated Systems Laboratory Universidad La Salle Benjamin Franklin 47 Mexico DF Mexico

ISBN: (纸本)9783037856123

This paper presents a practical real-time visual navigation system, including a vision system, a particle filter (PF) based localization system, and a path planning system, for humanoid robots in an indoor environment. A neural network (NN) converter system is used to solve the image distortion problem. The monocular vision system detects objects of interest in the scene, calculating their position in the image, and converting the position in the image to real world coordinates. The PF localization system estimates the current position by the robot's motion model and corrects the estimated position by using feedback from the data gathered by the vision system. The path planning system determines the next motion based on the result of the localization system. This paper uses a tree-like path planning method which not only guides the robot to the destination but also avoids obstacles at the same time. The navigation method allows a user to assign several different target destinations to the robot simultaneously. The proposed method is implemented on a humanoid robot "ROBOTIS DARwIn-OP", an open platform humanoid robot. The effectiveness of the system is demonstrated in an empirical evaluation. © (2013) Trans Tech Publications, Switzerland.

关键词： Bandpass filters

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Nonlinear Observer for 3D Rigid Body Motion

Nonlinear Observer for 3D Rigid Body Motion

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IEEE Annual Conference on Decision and Control

作者： Sergio Bras Maziar Izadi Carlos Silvestre Amit Sanyal Paulo Oliveira Laboratory of Robotics and Systems in Engineering and Science Instituto Superior Tecnico Universidade Tecnica de Lisboa Lisbon 1049-001 Portugal Mechanical and Aerospace Engineering department New Mexico State University Las Cruces NM 88011

ISBN: (纸本)9781467357159

Observer design for rigid body translational and rotational motion has important applications to unmanned or manned vehicles operating in air, underwater, or in space. An observer design for pose and velocity estimation for three-dimensional rigid body motion, in the framework of geometric mechanics, is presented here. Resorting to convenient defined Lyapunov function, a nonlinear observer on the Special Euclidean Group (SE(3)) is derived. This observer is based on the exponential coordinates, which are used to represent the group of rigid body motions. Exponential convergence of the estimation errors is shown and boundedness of the estimation error under bounded unmodeled torques and forces is established. Since exponential coordinates can describe uniquely almost the entire group of rigid body motions, the resulting observer design is almost globally exponentially convergent. The observer is then applied to the free dynamics of a rigid vehicle. Numerical simulation results are presented to show the performance of this observer, both in the absence and with unmodeled forces and torques.

关键词： rigid body motion Manned vehicles Torque Rigid Speed Estimation UNMANNED Exponential Force

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Path following control of rhombic like vehicles: Performance assessment with dynamic vehicle model

Path following control of rhombic like vehicles: Performance...

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10th International Conference on Informatics in Control, Automation and robotics, ICINCO 2013

作者： Silva, Nuno Vale, Alberto Baglivo, Luca Institute de Plasmas e Fusão Nuclear Instituto Superior Técnico Universidade Técnica de Lisboa Av. Rovisco Pais 1 1049-001 Lisboa Portugal Laboratory of Robotics and Systems in Engineering and Science Instituto Superior Técnico Universidade Técnica de Lisboa Av. Rovisco Pais 1 1049-001 Lisboa Portugal

ISBN: (纸本)9789898565716

This paper addresses the path following problem of a wheeled mobile robot with rhombic like kinematics (drivable and steerable wheels both at front and rear) operating in cluttered environments. Four path following controllers are developed to steer the kinematic model of a rhombic like vehicle (RLV) along a desired path: three are based on feedback laws derived at a kinematic level with geometrical inspiration;the fourth is a nonlinear controller built upon a kinematic model of a RLV using Lyapunov functions. All the developed controllers are capable of performing under two situations: when both wheels follow the same path, or when each wheel follows a different path. The dynamic modelling of a RLV is lastly introduced. Simulated results present a comparative performance assessment of the controllers while dealing, or not, with vehicle dynamics. The main conclusions of these controllers are summarized, leading to a possible application in the actual vehicles that will operate in the remote handling missions of the International Thermonuclear Experimental Reactor (ITER).

关键词： Controllers

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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...

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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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