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NASA/DoD Workshop on Evolvable Hardware

作者： Ho-Sik Seok Kwang-Ju Lee Byoung-Tak Zhang Dong-Wook Lee Kwee-Bo Sim Artificial Intelligence Laboratory SCAI School of Computer Science and Engineering Seoul National University Seoul South Korea Robotics and Intelligent Information System Lab Electrical and Electronic Engineering Chung-Ang University Seoul South Korea

Evolvable hardware is able to offer considerably higher performance than general-purpose processors and significantly more flexibility than ASICs. In order to take the advantages of general-purpose processors and ASICs, dividing a complex process into subprocesses is essential. In this paper, we propose a evolutionary method called context switching that splits a task into a set of subtasks whose complexity is manageable on the given hardware. The method is based on genetic programming. Due to its expressive power generic program can represent flexible strategies for decomposing complex tasks. The effectiveness of context switching is demonstrated on the design of adaptive controllers for a team of autonomous mobile robots.

关键词： Genetic programming Hardware Genetic algorithms Artificial intelligence intelligent robots Mobile robots Programmable control Adaptive control computer architecture Application specific integrated circuits

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Factorization method for multiple perspective views via iterative depth estimation

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systems and computers in Japan 2000年第13期31卷 87-95页

作者： Ueshiba, Toshio Tomita, Fumiaki Electrotechnical Laboratory Tsukuba 305-8568 Japan Department of Electrical Engineering University of Tokyo Electrotechnical Laboratory Min. of Intl. Trade and Industry Intelligent Systems Division Canada Nat. Inf. Eng. Lab. Information Processing Society Robotics Society of Japan Soc. of Instrum. Control Engineers Department of Control Engineering Osaka University CMU Department of Computer Science Information Processing Society Robotics Society of Japan

This paper proposes a factorization method that reconstructs camera motion and scene shape based on the matching of multiple images under the condition that the camera captures a perspective view. Starting from the affine projection camera model, the projection depth is iteratively estimated until the measurement matrix has rank 4. Then, the obtained measurement matrix is factorized to restore the three-dimensional information of the scene in the projection space. This approach eliminates noise sensitive processes, such as the calculation of the fundamental matrix, that are required in the factorization for the conventional perspective projection image, and a stable reconstruction is realized. Furthermore, the metric constraint in the conventional affine model is extended, and the metric constraint in the perspective projection condition is derived. It is shown that the reconstruction in Euclidean space is realized if the internal parameters of the camera are given.

关键词： Image reconstruction

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Application of a genetic algorithm in triangulation of a 3-D object surface

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International Journal of computers and Applications 2000年第2期22卷 73-77页

作者： Zhenyu, Chen Mbede, J.B. Yan, Zhou Dehua, Li Hanping, Hu State Commn. Res. Open Lab. Image P. Inst. Pattern Recog. Artif. Intell. Huazhong Univ. of Sci. and Technol. 430074 Wuhan China Intelligent Contr. and Robotics Lab. Dept. of Contr. Sci. and Engineering Huazhong Univ. of Sci. and Technol. 430074 Wuhan China Second Artillery Institute Huazhong Univ. of Sci. and Technol. Inst. Pattern Recog. Artif. Intell. Huazhong Univ. of Sci. and Technol. Second Artillery Institute China Wuhan University China Artificial Intelligence Department University of Edinburgh Inst. of AI and Pattern Recognition Huazhong Univ. of Sci. and Technol. China Cogn. Sci. Natl. Key Found. Res. P. Douala University Cameroon Tübingen University Germany Automatic Control Laboratory Darmstadt University Department of Service Cameroon Min. of National Education Robotics Laboratory Huazhong Univ. of Sci. and Technol. Wuhan China Assoc. Connectionnistes These-ACTH Rennes France IEEE Soc. of Robotics and Automation IEEE Society of Control Systems IASTED Assoc. Jeunes Chercheurs Robotique France Navy University of Engineering China Huazhong Univ. of Sci. and Technol. China Department of Computer Science Airforce Radar Acad. of Engineering China Inst. of P.R and AI Huazhong Univ. of Sci. and Technol.

This paper proposes a genetic-based algorithm for surface reconstruction of three-dimension (3-D) objects from a group of contours representing its section plane lines. The algorithm can optimize the triangulation of the surface of 3-D objects with a multi-objective optimization function to meet the needs of a wide range of applications. Further, a new crossover operator for triangulation and a new 3-D quadrilateral mutation operator are also introduced.

关键词： Object recognition

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Multi-Robot Path Planning by Predicting Structure in a Dynamic Environment

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IFAC Proceedings Volumes 2000年第26期33卷 555-560页

作者： C. Spence Olive Mahesh Saptharishi John M. Dolan Ashitey Trebi-Ollennu Pradeep K. Khosla Dept. of Electrical and Computer Engineering Carnegie Mellon University 5000 Forbes Ave. Pittsburgh PA 15213 Institute for Complex Engineered Systems Carnegie Mellon University 5000 Forbes Ave. Pittsburgh PA 15213 The Robotics Institute Carnegie Mellon University 5000 Forbes Ave. Pittsburgh PA 15213 Jet Propulsion Laboratory California Institute of Technology 4800 Oak Grove Drive Mail-Stop 82-105 Pasadena California 91109-8099

Path planning for multiple mobile robots is complicated by the presence of a dynamic environment, in which obstacles and other robots are moving. Centralized approaches are too computationally intensive for real-time response. Decoupled approaches which perform individual preplanning, conflict resolution, and reactive obstacle avoidance for each robot, can be globally inefficient. We propose a novel mission coordination architecture, CP AD (Checkpoint/Priority/Action Database), which performs path planning via checkpoint and dynamic priority assignment, using statistical estimates of the environment’s motion structure in order to make both preplanning and reactive behaviors more efficient. Simulation is used to validate and illustrate the approach

关键词： robot navigation path planning co-operation checkpoints estimation prediction uncertainty neural nets on-line learning

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Recent algorithms for fuzzy and neurofuzzy path planning and navigation of autonomous mobile robots

Recent algorithms for fuzzy and neurofuzzy path planning and...

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1999 European Control Conference, ECC 1999

作者： Tzafestas, Costas S. Tzafestas, Spyros G. Intelligent Robotics and Automation Laboratory Electrical and Computer Engineering Department National Technical University of Athens Zografou Athens157 73 Greece

ISBN: (纸本)9783952417355

This paper reviews a number of recent algorithms for mobile robot path planning, navigation and motion control, which employ fuzzy logic and neuro-fuzzy learning and reasoning. Starting with a discussion of the structure of fuzzy and neuro-fuzzy systems, two fuzzy obstacle avoidance path planning algorithms are presented followed by a 3-level neuro-fuzzy local and global path planning scheme. Then the motion planning and control problem is considered. A fuzzy path tracking strategy is outlined, followed by a fuzzy navigation algorithm among polygonal obstacles and a learning-by-doing neuro-fuzzy motion planning scheme. The paper ends with a hybrid robust motion control technique which combines the minimum interference and sliding mode control principles with fuzzy inference. A representative set of examples are included which illustrate the performance of the algorithms under various realistic conditions. © 1999 EUCA.

关键词： Fuzzy inference

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Dynamic Adaptive Autonomy in Agent-based systems 4

Dynamic Adaptive Autonomy in Agent-based Systems

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4th International Symposium on Autonomous Decentralized systems, ISADS 1999

作者： Suzanne Barber, K. The Laboratory for Intelligent Processes and Systems Electrical and Computer Engineering The University of Texas at Austin AustinTX78712 United States

ISBN: (纸本)0769501370

Agent-based systems require flexibility to perform effectively in complex and dynamic environments. Previous research has identified numerous motivations for adaptability in agent-based systems;however, the extent of this adaptability can be expanded. This paper asserts that agents should be able to benefit from controlling the problem-solving frameworks (also called planning-interaction frameworks) under which they plan for their goals. Dynamic Adaptive Autonomy (DAA) allows agents to control their planning-interaction styles, called autonomy levels, along a defined spectrum (from command-driven to consensus to locally autonomous/master). This allows agents to dynamically form, modify, or dissolve goal-oriented problem-solving groups. This paper presents motivation for DAA arguing that the best type of problem-solving framework for a group of agents depends not only on the problem domain and the pre-defined characteristics of the system, but also on run-time factors that can change during system operation. Thus, it is possible for agents to benefit from the capability to dynamically adapt their problem-solving framework to their situation. © 1999 Proceedings - 4th International Symposium on Autonomous Decentralized systems: Integration of Heterogeneous systems, ISADS 1999. All rights reserved.

关键词： Motivation

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Fast and accurate sonar trackers using double pulse coding

Fast and accurate sonar trackers using double pulse coding

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IEEE International Workshop on intelligent Robots and systems (IROS)

作者： L. Kleeman Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash University Australia

A sonar target tracking system is presented that is capable of accurately tracking targets at measurement rates exceeding 10 Hz. Two sonar trackers, each consisting of a transmitter and two receivers, are independently controlled to track sonar targets from bearing and range measurements. Bearing and range are accurately estimated using matched filters on two closely spaced receivers, with accuracy better than 0.1 degrees in still air conditions. Accuracy degrades with increasing air turbulence and temperature gradients, and bearing errors are shown experimentally to have significant autocorrelation at times of the order of seconds. The transmitter identity is coded using time separation of double pulses, thus allowing the two transmitters to operate simultaneously without spurious crosstalk readings. The ability to reliably reject interference is demonstrated experimentally. A simple computationally lean double pulse validation approach is analysed and experimentally tested with robot speeds up to 1 metre per second where Doppler shifting of the double pulse separation is an important factor.

关键词： Target tracking Sonar measurements Transmitters Control systems Matched filters Degradation Temperature Autocorrelation Crosstalk Interference

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Team scheduling by genetic search 2

Team scheduling by genetic search

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2nd International Conference on intelligent Processing and Manufacturing of Materials, IPMM 1999

作者： Zhang, Tiehua Graver, William A. Smith, Michael H. Intelligent Robotics and Manufacturing System Laboratory Simon Fraser University BurnabyBCV5A1S6 Canada University of California at Berkeley Department of Electrical Engineering and Computer Science BerkeleyCA United States

ISBN: (纸本)0780354893

We consider a photographic studio that must schedule multiple teams of photographers to a large number of elementary and secondary schools. The photographers' schedules are to be optimized so that time constraints are satisfied and each team is able to at least visit two schools daily. A multiple Travelling Salesman model is used where the total distance traveled and time consumed can be evaluated in a single cost function to achieve overall optimality. A genetic algorithm has been applied to solve the problem. The results show that this approach rapidly provides an effective means for solving the problem. © 1999 IEEE.

关键词： Cost functions

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Ant trails - an example for robots to follow?

Ant trails - an example for robots to follow?

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IEEE International Conference on robotics and Automation (ICRA)

作者： R.A. Russell Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash University Clayton VIC Australia

In order to operate effectively in their variable and unstructured real world environment insects employ many strategies. Generating and detecting odours is the basis of several of these strategies. It seems certain that similar techniques can be implemented to improve the competence of robotic systems. This paper describes a project to investigate transferring the pheromone trail tracking capabilities of ants to robotic systems. A robotic ant has been built and equipped with a pair of odour sensing 'antennae'. This system has been programmed with a trail following algorithm observed in the ant Lasius fuliginosus. The design of this robot, the control algorithm and results of odour trail following experiments are presented.

关键词： Robot sensing systems Chemicals intelligent robots intelligent sensors Recruitment Insects Robot control Navigation Biology computing systems engineering and theory

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A formal approach to reactive system design: unmanned aerial vehicle flight management system design example

A formal approach to reactive system design: unmanned aerial...

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IEEE International Symposium on computer Aided Control System Design (CACSD)

作者： T.J. Koo B. Sinopoli A. Sangiovanni-Vincentelli S. Sastry Robotics and Intelligent Machines Laboratory Department of Electrical Engineering and Computer Sciences University of California Berkeley CA USA

This paper presents a formal methodology for the design, implementation and validation of reactive systems. The methodology has been applied to the design of a flight management systems for a model helicopter in the BEAR project. POLIS, a design tool developed at the University of California at Berkeley, is extensively used. The automation of the design problem and the validation techniques provided by this tool allow one to shorten prototyping time and to prove the correctness of the properties of the system. Automatic code generation guarantees error free implementation, which is fundamental in safety critical applications. Simulation of the entire design is performed using Ptolemy, a hierarchical heterogeneous simulation environment.

关键词： Unmanned aerial vehicles Flexible manufacturing systems Safety Control systems intelligent robots Timing Computational modeling Automatic control engineering management intelligent vehicles

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