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检索条件"机构=Robotics Embedded Systems Laboratory Robotics Research Laboratory Department of Computer Science"

共 489 条记录，以下是401-410 订阅

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Robomote: A tiny mobile robot platform for large-scale ad-hoc sensor networks

Robomote: A tiny mobile robot platform for large-scale ad-ho...

引用

2002 IEEE International Conference on robotics and Automation

作者： Sibley, Gabriel T. Rahimi, Mohammad H. Sukhatme, Gaurav S. Robotics Research Laboratory Department of Computer Science University of Southern California Los Angeles CA 90089-0781 United States

This paper introduces Robomote, a robotic solution developed to explore problems in large-scale distributed robotics and sensor networks. The design explicitly aims at enabling research in sensor networking, adhoc networking, massively distributed robotics, and extended longevity. The platform must meet many demanding criteria not limited to but including: miniature size, low power, low cost, simple fabrication, and a sensor/actuator suite that facilitates navigation and localization. We argue that a robot test bed such as Robomote is necessary for practical research with large networks of mobile robots. Further, we present a preliminary analysis of Robomotes' success to this end.

关键词： Mobile robots

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Adaptive spatio-temporal organization in groups of robots

Adaptive spatio-temporal organization in groups of robots

引用

2002 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Dahl, Torbjørn S. Matarić, Maja J. Sukhatme, Gaurav S. Robotics Research Laboratory Computer Science Department University of Southern California Los Angeles CA United States

This paper presents experiments, in simulation, with a group of robots that improve their performance on a straightforward transportation task by using reinforcement learning to associate input states with a set of abstract behaviors. We show that the improvement in performance is a result of the group adapting its spatio-temporal organization to the given environment. Spatio-temporal adaptation is a general form of adaptation in that it can improve performance over a range of different tasks and environments. Hence it increases the general applicability and autonomy of robotic systems. Lastly, we present two communication strategies that improve this ability to adapt by generally improving learning rates for cooperative robots in highly dynamic domains.

关键词： Robot learning

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Robomote: a tiny mobile robot platform for large-scale ad-hoc sensor networks

Robomote: a tiny mobile robot platform for large-scale ad-ho...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： G.T. Sibley M.H. Rahimi G.S. Sukhatme Robotic Embedded Systems Laboratory Robotics Research Laboratory Department of Computer Science University of Southern California Los Angeles CA USA

关键词： Mobile robots Large-scale systems Robot sensing systems Costs Orbital robotics Laboratories Actuators Humans Sensor systems Navigation

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Modeling and control of keyhole ARC welding process 15th

Modeling and control of keyhole ARC welding process

引用

15th World Congress of the International Federation of Automatic Control, 2002

作者： Zhang, Y.M. Liu, Y.C. Welding Research Laboratory Center for Robotics and Manufacturing Systems Department of Electrical and Computer Engineering College of Engineering University of Kentucky LexingtonKY40506 United States

ISBN: (纸本)9783902661746

This paper addresses the development of an adaptive control system for keyhole arc welding process. The system developed adjusts the amperage of the peak current to achieve the desired peak current period under varying manufacturing conditions. A nominal model is selected from models identified using experimental data and is used as the a prior model of the controlled process. A predictive control algorithm has been designed for the nominal model structure. Closed-loop control experiments have been conducted to verify the effectiveness of the developed system under varying set-point and varying travel speed. Copyright © 2002 IFAC.

关键词： Adaptive control systems

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Staying alive: a docking station for autonomous robot recharging

Staying alive: a docking station for autonomous robot rechar...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： M.C. Silverman D. Nies B. Jung G.S. Sukhatme Raytheon Electronic Systems Raytheon Company El Segundo CA USA Robotics Embedded Systems Laboratory Robotics Research Laboratory Department of Computer Science University of Southern California Los Angeles CA USA

Autonomous mobile robots are constrained in their long-term functionality due to a limited on-board power supply. Typically, rechargeable batteries are utilized that may only provide a few hours of peak usage before recharging is necessary. Recharging requires a robot to be taken offline, and attached to a battery charger via human intervention. This is unacceptable in environments where long-term autonomous capabilities are necessary. We present a method to provide long-term autonomy by implementing autonomous recharging. A recharging station design is presented, consisting of a stationary docking station and a docking mechanism mounted to a Pioneer 2DX robot. The docking station and robot docking mechanism are designed to work together, providing a mechanical and electrical connection between the charging system and the robot. Algorithms are implemented to monitor the battery voltage and control the docking procedure, as well as account for any errors that may occur. Initial experiments that demonstrate the validity of the approach and design are presented.

关键词： Robot sensing systems Mobile robots Batteries Humans Laboratories Power supplies embedded system computer science Monitoring Error correction

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Collective construction with multiple robots

Collective construction with multiple robots

引用

2002 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Wawerla, Jens Sukhatme, Gaurav S. Matarić, Maja J. Robotics Research Laboratory Computer Science Department Univ. of Southern California Los Angeles CA 90089-0781 United States

We study the problem of construction by autonomous mobile robots focusing on the coordination strategy employed by the robots to solve a simple construction problem efficiently. In particular, we address the problem of constructing a linear 2D structure in a planar, bounded environment. A "minimalist" single-robot solution to the problem is given, as well as two multi-robot solutions, which are natural extensions to the single-robot approach, with varying degrees of inter-robot communication. Results show that with minimal inter-robot communication (1 bit of state), there is a significant improvement in the system performance. This improvement is invariant with respect to the size of the environment.

关键词： Mobile robots

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Controlling hopping height of a pneumatic monopod

Controlling hopping height of a pneumatic monopod

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： K. Harbick G.S. Sukhatme Robotics Research Laboratories Department of Computer ScienceRobotic Embedded Systems Laboratory University of Southern California Los Angeles CA USA

We describe a model-based height controller for a hopping robot with a pneumatically powered leg. The controller explicitly models variation in the leg angle and height. Using an explicit model of the physics of the pneumatic spring and some symmetry assumptions, we derive the desired leg-length setting to regulate apex hopping height using a PD controller. Simulation experiments of hopping in the sagittal plane show reasonable height regulation. For low-speed running, we take advantage of the small variations in the leg angle about the vertical, and demonstrate that the original symmetry assumptions may be relaxed by restricting the leg angle to /spl pi//2. Simulations show that the restricted model outperforms the original model by a small but significant amount.

关键词： Leg Springs Velocity control Legged locomotion Power system modeling Control systems Laboratories Physics Navigation Foot

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Real-time tracking of an unpredictable target amidst unknown obstacles

Real-time tracking of an unpredictable target amidst unknown...

引用

Proceedings of the 7th International Conference on Control, Automation, robotics and Vision, ICARCV 2002

作者： Lee, Cheng-Yu González-Baños, Hector Latombe, Jean-Claude Robotics Laboratory Computer Science Department Stanford University CA United States Honda's Fundamental Research Labs. Mountain View CA United States

ISBN: (纸本)9810483643

This paper describes a new approach to keep a moving target into the field of view of a robot, despite obstacles. Unlike previous work, this approach does not assume that a complete or partial model of the target's behavior is available, nor that a map of the obstacles is given. At approximately 10 Hz, the robot constructs a local map of the environment from range data, localizes the target in this map, and computes its new velocity command. This command is selected to minimize a function that measures the risk that the target may escape the robot's field of view by crossing an occlusion ray created by an obstacle. The risk function defined in this paper combines a reactive term, whose minimization handles immediate threats, and a look-ahead term, whose minimization improves the robot's future ability to react to evading motions of the target. The experimental robotic system has been remarkably successful at tracking a target performing brisk maneuvers and swift turns behind obstacles.

关键词： Real time systems

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Adaptive spatio-temporal organization in groups of robots

Adaptive spatio-temporal organization in groups of robots

引用

IEEE International Workshop on Intelligent Robots and systems (IROS)

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

关键词： Robots Transportation Orbital robotics Learning Multirobot systems computer science Computational modeling computer simulation Convergence computer hacking

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Localization for mobile robot teams using maximum likelihood estimation

Localization for mobile robot teams using maximum likelihood...

引用

IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： A. Howard M.J. Matark G.S. Sukhatme Robotics Research Laboratory Computer Science Department University of Southern California USA Robotics Research Laboratory University of Southern California Comput. Sci. Dept. Univ. of Southern California SC USA

This paper describes a method for localizing the members of a mobile robot team, using only the robots themselves as landmarks, that is, we describe a method whereby each robot can determine the relative range, bearing and orientation of every other robot in the team, without the use of GPS, external landmarks, or instrumentation of the environment. Our method assumes that each robot is able to measure the relative pose of nearby robots, together with changes in its own pose. Using a combination of maximum likelihood estimation and numerical optimization, we can subsequently infer the relative pose of every robot in the team. This paper describes the basic formalism, its practical implementation, and presents experimental results obtained using a team of four mobile robots.

关键词： Mobile robots Maximum likelihood estimation Robot sensing systems Robot kinematics Global Positioning System Motion measurement Laboratories computer science Mobile computing Instruments

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