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7th International Joint Conference on Autonomous Agents and Multiagent Systems, AAMAS 2008

作者： Marcolino, Leandro Soriano Chaimowicz, Luiz VeRLab-Vision and Robotics Laboratory Computer Science Department UFMG Brazil

ISBN: (纸本)9781605604701

We present an algorithm that allows swarms of robots to navigate in environments containing unknown obstacles, moving towards and spreading along 2D shapes given by implicit functions. Basically, a gradient descent approach augmented with local obstacle avoidance is used to control the swarm. To deal with local minima regions, we use a coordination mechanism that reallocates some robots as "rescuers" and sends them to help other robots that may be trapped. The main objective of this paper is to analyze the performance of this algorithm in terms of its completion rate and communication requirements as the number of robots increases. For this, a series of simulations are presented and discussed. Copyright © 2008, International Foundation for Autonomous Agents and Multiagent Systems (***). All rights reserved.

关键词： Autonomous agents

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On the problem of determination of spring stiffness parameters for spring-mesh models

On the problem of determination of spring stiffness paramete...

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Medicine Meets Virtual Reality 16 - Parallel, Combinatorial, Convergent: NextMed by Design, MMVR 2008

作者： Quang Huy Viet, Huynh Hirai, Shinichi Shirai, Yoshiaki Yamaguchi, Satoshi Tanaka, Hiromi T. Kawasaki, Hiroshi Kawai, Yukiko Computer Vision and Graphics Laboratory Department of Information and Computer Science Saitama University Saitama Japan Laboratory for Integrated Machine Intelligence Department of Robotics Ritsumeikan University Kusatsu Japan Computer Vision Lab. Department of Human and Computer Intelligence Ritsumeikan University Kusatsu Japan Kawai Lab. Department of Computer Science Kyoto Sangyo University Kyoto Japan

ISBN: (纸本)9781586038229

On account of having real-time behavior and being easy to implement, spring meshes have been used for modeling deformable objects. Determining spring stiffness parameters for simulation of soft objects with high accuracy still remains a challenge. Allen Van Gelder derived an approximate formula for determining spring stiffness parameters based on strain analysis. Even though the experimental result showed the effectiveness, the method has not been investigated from a quantitative point of view. In this paper we propose a quantitative method for determining spring stiffness parameters. Moreover we propose a method to improve the accuracy by way of introducing torsional spring into the conventional spring mesh model. © 2008 The authors. All rights reserved.

关键词： Stiffness matrix

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Automatic vehicle detection using local features - A statistical approach

Automatic vehicle detection using local features - A statist...

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作者： Wang, Chi-Chen Raxle Lien, Jenn-Jier James IEEE Department of Computer Science and Information Engineering National Cheng Kung University Tainan 701 Taiwan Robotics Laboratory Department of Computer Science and Information Engineering National Cheng Kung University Tainan 701 Taiwan

This paper develops a novel statistical approach for automatic vehicle detection based on local features that are located within three significant subregions of the image. In the detection process, each subregion is projected onto its associated eigenspace and independent basis space to generate a principal components analysis (PCA) weight vector and an independent component analysis (ICA) coefficient vector, respectively. A likelihood evaluation process is then performed based on the estimated joint probability of the projection weight vectors and the coefficient vectors of the subregions with position information. The use of subregion position information minimizes the risk of false acceptances, whereas the use of PCA to model the low-frequency components of the eigenspace and ICA to model the high-frequency components of the residual space improves the tolerance of the detection process toward variations in the illumination conditions and vehicle pose. The use of local features not only renders the system more robust toward partial occlusions but also reduces the computational overhead. The computational costs are further reduced by eliminating the requirement for an ICA residual image reconstruction process and by computing the likelihood probability using a weighted Gaussian mixture model, whose parameters and weights are iteratively estimated using an expectation-maximization algorithm. © 2008 IEEE.

关键词： Vehicles

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No Robot Left Behind: Coordination to Overcome Local Minima in Swarm Navigation

No Robot Left Behind: Coordination to Overcome Local Minima ...

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2008 IEEE International Conference on robotics and Automation (ICRA 2008), vol.5

作者： Leandro Soriano Marcolino Luiz Chaimowicz Vision and Robotics Laboratory (VeRLab) Computer Science Department Federal University of Minas Gerais Brazil

In this paper, we address navigation and coordination methods that allow swarms of robots to converge and spread along complex 2D shapes in environments containing unknown obstacles. Shapes are modeled using implicit functions and a gradient descent approach is used for controlling the swarm. To overcome local minima, that may appear in these scenarios, we use a coordination mechanism that reallocates some robots as "rescuers" and sends them to help other robots that may be trapped. Simulations and real experiments demonstrate the feasibility of the proposed approach.

关键词： Robot kinematics Navigation Shape control robotics and automation Robot sensing systems Convergence Robot vision systems Motion planning Deformable models USA Councils

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IEEE Transactions on Haptics: Editorial

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IEEE Transactions on Haptics 2008年第1期1卷 2-8页

作者： Edward Colgate, J. Lederman, Susan Prattichizzo, Domenico Barbagli, Federico Basdogan, Cagatay Buss, Martin Ernst, Marc Frisoli, Antonio Gillespie, Brent Grant, Danny Harders, Matthias Hayward, Vincent Jones, Lynette Kajimoto, Hiroyuki Kappers, Astrid Kheddar, Abderrahmane Lin, Ming C. MacLean, Karon Miller, Brian Noma, Haruo Okamura, Allison M. O'Malley, Mareia Ryu, Jeha Tan, Hong Z. Yokokohji, Yasuyoshi Department of Psychology School of Computing Queen's University Canada IEEE Robotics and Automation Society Tübingen Germany Stanford University's Computer Science Department Tübingen Germany Institute of Automatic Control Engineering Technische Universität München Germany Independent Research Group Multisensory Perception and Action Max Planck Institute for Biological Cybernetics Tübingen Germany Department of Applied Mechanics SSSA Japan Research Division Virtual Reality and Telerobotic Systems PERCRO Laboratory Japan Department of Mechanical Engineering Japan Department of Robotics McGill University Canada Computer Vision Lab ETH Zurich Japan Virtual Reality in Medicine Group Japan IEEE CS/RAS Technical Committee on Haptics Japan Department of Electrical and Computer Engineering McGill University Canada Department of Mechanical Engineering MIT Japan University of Electro-Communications Japan Department of Physics and Astronomy Utrecht University Netherlands University of Evry France Chapel Hill United States Department of Computer Science University of British Columbia Canada ATR Knowledge Science Lab United Kingdom Department of Mechanical Engineering Denmark Johns Hopkins University United States Laboratory for Computational Sensing and Robotics United Kingdom Engineering Research Center for Computer-Integrated Surgical Systems and Technology United States Mechanical Engineering and Materials Science Department Rice University United States Korea Republic of Department of Electrical and Computer Engineering Mechanical Engineering and Psychological Sciences Purdue University United States Department of Mechanical Engineering and Science Graduate School of Engineering Kyoto University Japan

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How quickly should communication robots respond? 08

How quickly should communication robots respond?

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3rd ACM/IEEE International Conference on Human-Robot Interaction, HRI 2008

作者： Shiwa, Toshiyuki Kanda, Takayuki Imai, Michita Ishiguro, Hiroshi Hagita, Norihiro ATR Intelligent Robotics and Communication Laboratory 2-2-2 Hikaridai Keihanna Science City Kyoto Japan Department of Information and Computer Science Keio University 3-14-1 Hiyoshi Kouhoku-ku Yokohama Kanagawa Japan Faculty of Engineering Osaka University 2-1 Yamadaoka Suita City Osaka Japan

ISBN: (纸本)9781605580173

This paper reports a study about system response time (SRT) in communication robots that utilize human-like social features, such as anthropomorphic appearance and conversation in natural language. Our research purpose established a design guideline for SRT in communication robots. The first experiment observed user preferences toward different SRTs in interaction with a robot. In other existing user interfaces, faster response is usually preferred. In contrast, our experimental result indicated that user preference for SRT in a communication robot is highest at one second, and user preference ratings level off at two seconds. However, a robot cannot always respond in such a short time as one or two seconds. Thus, the important question is "What should a robot do if it cannot respond quickly enough?" The second experiment tested the effectiveness of a conversational filler: behavior to notify listeners that the robot is going to respond. In Japanese "etto" is used to buy time to think and resembles "well..." and "uh..." In English. We used the same strategy in a communication robot to shadow system response time. Our results indicated that using a conversational filler by the robot moderated the user's impression toward a long SRT. Copyright 2008 ACM.

关键词： Fillers

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Editorial: Dependability and security

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IEEE Transactions on Dependable and Secure Computing 2008年第1期5卷 1-3页

作者： Iyer, Ravishankar K. Gligor, Virgil D. Kalbarczyk, Zbigniew T. Kanoun, Karama Katzenbeisser, Stefan Mukherjee, Shubu Shieh, Shiuhpyng Zorian, Yervant Department of Electrical and Computer Engineering Carnegie Mellon University Microsoft's Trusted Computing Academic Advisory Board Center for Reliable and High-Performance Computing Coordinated Science Laboratory University of Illinois Urbana-Champaign United States IEEE IEEE Computer Society LAAS CNRS IFIP Working Group 10.4 on Dependable Computing and Fault Tolerance Special Interest Group on Dependability Benchmarking IFIP Working Group 10.4 French SEE Technical Committee on Trustworthy Computer Systems SEE Working Group Design and Validation for Dependability Technical University Munich Germany Darmstadt University of Technology ACM IACR Intel's SER Tech Council Intel's Architecture Patent Committee Taiwan Information Security Center NCTU IEEE Reliability Society Taipei and Tainan IACR United States Virage Logic Corp. AT and T Bell Laboratories Logic Vision Inc. University of British Columbia IEEE Test Technology Technical Council

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Joint-action for humans and industrial robots for assembly tasks

Joint-action for humans and industrial robots for assembly t...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Claus Lenz Suraj Nair Markus Rickert Alois Knoll Wolgang Rosel Jurgen Gast Alexander Bannat Frank Wallhoff Robotics and Embedded Systems Laboratory Department of Computer Science Technische Universitat Munchen Munchen Germany Machine Tools and Industrial Management Department of Mechanical Engineering Technische Universitat Munchen Munchen Germany Human Machine Communication Department of Electrical Engineering and Information Technologies Technische Universitat Munchen Munchen Germany

This paper presents a concept of a smart working environment designed to allow true joint-actions of humans and industrial robots. The proposed system perceives its environment with multiple sensor modalities and acts in it with an industrial robot manipulator to assemble capital goods together with a human worker. In combination with the reactive behavior of the robot, safe collaboration between the human and the robot is possible. Furthermore, the system anticipates human behavior, based on knowledge databases and decision processes, ensuring an effective collaboration between the human and robot. As a proof of concept, we introduce a use case where an arm is assembled and mounted on a robotpsilas body.

关键词： Robots

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Combinatorial Fusion Criteria for Robot Mapping

Combinatorial Fusion Criteria for Robot Mapping

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International Conference on Advanced information Networking and Applications (AINA)

作者： Damian M. Lyons D. Frank Hsu Qiang Ma Liang Wang Computer Vision & Robotics Laboratory Department of Computer & Information Science Fordham University Bronx NY USA

We address the problem of sensor fusion for stereo and ultrasound depth measurements for map building for a robot operating in a cluttered environment. In such a situation it's difficult to make useful and realistic assumptions about the sensor or environment statistics. Combinatorial Fusion Analysis is used to develop an approach to fusion with unknown sensor and environment statistics. A metric is proposed that shows when fusion from a set of fusion alternatives will produce a more accurate estimation of depth than either sonar or stereo alone and when not. The metric consists of two criteria: (a) the performance ratio PR(A,B) between sensors A and B, and (b) the diversity d(A,B) between A and B as captured by the rank-score function fA and fB. Experimental results are reported to illustrate that these two CFA criteria are viable predictors to distinguish between positive cases (the combined system performs better than or equal to the individual systems) and negative cases.

关键词： Sensor fusion Robot sensing systems Robot vision systems Statistics computer vision Stereo vision Sonar Mobile robots Ultrasonic imaging Statistical analysis

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Evaluation of a Parallel Architecture and Algorithm for Mapping and Localization

Evaluation of a Parallel Architecture and Algorithm for Mapp...

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IEEE International Symposium on Computational Intelligence in robotics and Automation (CIRA)

作者： Damian M. Lyons Giselle R. Isner Robotics and Computer Vision Laboratory of the Computer & Information Science Department Fordham University Bronx NY USA Computer & Information Science Department Fordham University Bronx NY USA

The Beowulf cluster approach to parallel computation offers a potentially cheap and robust source of computational power for high complexity algorithms in robotics. The challenge is to integrate this approach with the mobility and time critical response constraints of many robotic algorithms. The key contributions of this paper are: (1) introduction of a computational architecture for integrating a cluster into the control architecture of one or more robots, (2) a cluster implementation of Thrun et al's Concurrent Localization and Mapping (CML) algorithm, and (3) presentation of results to illustrate the performance of the implemented CML algorithm and validate the architectural approach.

关键词： Parallel architectures computer architecture Clustering algorithms Concurrent computing Robot sensing systems robotics and automation Mobile robots Navigation Space technology Computational intelligence

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