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Trajectory planning and control for multiple-vehicles systems

Trajectory planning and control for multiple-vehicles system...

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Anugrah K. Pamosoaji Keum-Shik Hong Shuzhi Sam Ge School of Mechanical Engineering Pusan National University Busan South Korea Department of Cogno-Mechatronics Engineering Pusan National University Busan South Korea Robotics Institute School of Computer Science and Engineering University of Electronic Science and Technology Chengdu China Department of Electrical and Computer Engineering National University of Singapore Singapore

Algorithms for trajectory planning and control for a multiple-vehicles system are investigated. An issue of designing collision-free trajectories on a group of crossing paths is tackled. The trajectories are modeled as a set of via-points coupled with their associated achieving time. Furthermore, a tracking controller design dealing with actuators constraints and all via points' achieve times is proposed. By applying the controller, each vehicle is guaranteed to get closer to the desired via-points without any obstacle-avoidance motions. Simulation results showing the generated trajectories and tracking performance is presented.

关键词： Vehicles Trajectory Planning Acceleration Educational institutions Simulation Control design

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Estimating the minimum number of robots to finish given multi-objects task

Estimating the minimum number of robots to finish given mult...

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IEEE Conference on Cybernetics and Intelligent Systems

作者： Ji Guo Bo Gao Rongxin Cui Shuzhi Sam Ge College of Marine Engineering Northwestern Polytechnical University Xian China College of Physics and Electrical Engineering Anyang Normal University China Robotics Institute and Institute of Intelligent Systems and Information Technology and School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu China

In this paper, we propose a method that could solve the problem of estimating the minimum number of robots to finish the given multi-objects task. The criterion of estimating the robots includes the time consumption of motion on the trajectory and the work on the multi-objects. Our proposed method builds the roadmap to compute the cost of motion between objects and then builds the network with the motion and work cost. To satisfy the specified efficiency, the optimization algorithm of network is used to compute the minimum number of robots which can finish the task. An implementation example is presented and possible further research directions are presented as well.

关键词： Robot kinematics Conferences Trajectory Bipartite graph Educational institutions Routing

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Persistent Ocean Monitoring with Underwater Gliders: Towards Accurate Reconstruction of Dynamic Ocean Processes

Persistent Ocean Monitoring with Underwater Gliders: Towards...

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2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Ryan N. Smith Mac Schwager Daniela Rus Stephen L. Smith Gaurav S. Sukhatme School of Engineering Systems at the Queensland University of Technology BrisbaneQLD4000 Australia GRASP Lab University of PennsylvaniaPhiladelphiaPA 19104USA Distributed Robotics Lab Computer Science and Artificial Intelligence LaboratoryMassachusetts Insti Robotic Embedded Systems Laboratory Department of Computer ScienceUniversity of Southern California

This paper proposes a path planning algorithm and a velocity control algorithm for underwater gliders to persistently monitor a patch of ocean. The algorithms address a pressing need among ocean scientists to collect high-value data for studying ocean events of scientific and environmental interest, such as the occurrence of harmful algal blooms. The path planner optimizes a cost function that blends two competing factors: it maximizes the information value of the path, while minimizing the deviation from the path due to ocean currents. The speed control algorithm then optimizes the speed along the planned path so that higher resolution samples are collected in areas of higher information value. The resulting paths are closed circuits that can be repeatedly traversed to collect long term ocean data in dynamic environments. The algorithms were tested during sea trials on an underwater glider operating off the coast of southern California over the course of several weeks. The results show significant improvements in data resolution and path reliability compared to a sampling path that is typically used in the region.

关键词： Oceans Heuristic algorithms Vehicles Monitoring Sea measurements Vehicle dynamics Read only memory

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Reports of the AAAI 2010 spring symposia

Reports of the AAAI 2010 spring symposia

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作者： Barkowsky, Thomas Bertel, Sven Broz, Frank Chaudhri, Vinay K. Eagle, Nathan Genesereth, Michael Halpin, Harry Hamner, Emily Hoffmann, Gabe Hölscher, Christoph Horvitz, Eric Lauwers, Tom McGuinness, Deborah L. Michalowski, Marek Mower, Emily Shipley, Thomas F. Stubbs, Kristen Vogl, Roland Williams, Mary-Anne Cognitive Systems Group University of Bremen Research Center SFB/TR 8 Spatial Cognition Germany Human Factors Division Beckman Institute for Advanced Science and Technology University of Illinois Urbana-Champaign IL United States Adaptive Systems Research Group Computer Science Department University of Hertfordshire United Kingdom Artificial Intelligence Center at SRI International United States Txteagle Inc. MIT Media Laboratory United States Computer Science Department Stanford University United States University of Edinburgh United Kingdom Robotics Institute Carnegie Mellon University United States Palo Alto Research Center United States Center for Cognitive Science University of Freiburg Germany CREATE lab Carnegie Mellon Robotics Institute United States Rensselaer Polytechnic Institute United States University of Southern California United States Department of Psychology Temple University Spatial Intelligence and Learning Center United States IRobot Corporation United States Stanford Program in Law Science and Technology Stanford University Law School United States Innovation and Enterprise Research Laboratory University of Technology Sydney Australia

The Association for the Advancement of Artificial Intelligence, in cooperation with Stanford University's Department of computer science, presented the 2010 Spring Symposium Series Monday through Wednesday, March 22-24, 2010, at Stanford University. The titles of the seven symposia were Artificial Intelligence for Development;Cognitive Shape Processing;Educational robotics and Beyond: Design and Evaluation;Embedded Reasoning: Intelligence in Embedded Systems;Intelligent Information Privacy Management;It's All in the Timing: Representing and Reasoning about Time in Interactive Behavior;and Linked Data Meets Artificial Intelligence. Copyright © 2010.

关键词： Embedded systems

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Fusion of CSP-derived features and Time-Domain Parameters for mind robotics control

Fusion of CSP-derived features and Time-Domain Parameters fo...

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Asian Control Conference

作者： Shuzhi Sam Ge Xinyang Li Yaozhang Pan Social Robotics Laboratory Interactive Digital Media Institute and Department of Electrical and Computer Engineering National University of Singapore Singapore Social Robotics Laboratory Interactive Digital Media Institute and NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore Institute for Infocomm Research Agency for Science Technology and Research Singapore

In this paper, fusion of Common Spatial Pattern (CSP) analysis derived features and Time-Domain Parameters (TDP) is investigated for two-class motion imagery classification: left hand movement and right hand movement imagery. This fusion method is aiming at improving the performance of Brain-computer Interface (BCI) systems in translating human thoughts into command to control certain robots, e.g. rehabilitation robots. In the BCI system applied in this paper, a Human-Friendly Interactive Bear Robot is implemented, whose bear-like appearance and interactive actions can alleviate the frustration and anxiety on the part of the user in the experiment. Moreover, off-line experiments are conducted to demonstrate the efficiency of the fusion method using both well-known open-source data and data obtained by the BCI system mentioned before.

关键词： Robots Electroencephalography Accuracy Feature extraction Brain modeling Covariance matrix Algorithm design and analysis

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System design and implementation of social interactive robot Nancy

System design and implementation of social interactive robot...

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International Conference on Information sciences and Interaction sciences (ICIS)

作者： Shuzhi Sam Ge Chun Fui Liew Yanan Li Institute of Intelligent Systems University of Electronic Science and Technology Chengdu China Social Robotics Laboratory Interactive Digital Media Institute and Department of Electrical and Computer Engineering National University of Singapore Singapore Social Robotics Laboratory Interactive Digital Media Institute and NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore

This paper presents a social interactive robot Nancy that has been developed in Social robotics Laboratory, National University of Singapore. Fundamentally different from factory robots, Nancy's design focuses on social interaction and social intelligent system. The design objectives and consideration are examined in the beginning, followed by the description of hardware and software architectures. Contrast to current existing social robots, Nancy has a graphical user interface (GUI), which acts as an additional channel for human-robot interaction. This GUI helps users to have a better understanding of Nancy's internal states and hence make users feel more comfortable during the interaction with Nancy. Visitors' interaction experience with Nancy is discussed together with Nancy's social skills.

关键词： Robots Graphical user interfaces Servomotors Speech Universal Serial Bus Face Hardware

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Crane control via parallel distributed fuzzy LQR controller using genetic fuzzy rule selection

Crane control via parallel distributed fuzzy LQR controller ...

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International Conference on Control, Instrumentation, and Automation

作者： M. Adeli H. Zarabadipour M. Aliyari Shoorehdeli Department of robotics and mechatronics School of Science and Technology Nazarbayev University Astana Kazakhstan Department of Electrical Engineering Shahid Rajaee University Tehran Iran DORA S.p.A. STMicroelectronics group Aosta — Italy Agrate Brianza MI Italy Department of mechanical engineering School of Engineering Nazarbayev University Astana Kazakhstan Department of Electrical and Computer Engineering University of Stavanger Stavanger Norway

Overhead crane is an industrial structure that is widely used in many harbors and factories. It is usually operated manually or by some conventional control methods. In this paper, we propose a hybrid controller includes both position regulation and anti-swing control. According to Takagi-Sugeno fuzzy model of an overhead crane and genetic algorithm, a fuzzy controller is designed with parallel distributed compensation and Linear Quadratic Regulation. Using genetic algorithm, important fuzzy rules are selected and so the number of rules decreased and design procedure need less computation and its computation needs less time. Further, the stability of the overhead crane with the parallel distributed fuzzy LQR controller is discussed. The stability analysis and control design problems is reduced to linear matrix inequality (LMI) problems. Simulation results illustrated the validity of the proposed parallel distributed fuzzy LQR control method and it was compared with a similar method parallel distributed fuzzy controller with same fuzzy rule set.

关键词： Cranes Mathematical model Genetic algorithms Nonlinear systems Stability analysis Control design Linear matrix inequalities

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Representation of pre-grasp strategies for object manipulation

Representation of pre-grasp strategies for object manipulati...

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2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010

作者： Kappler, Daniel Chang, Lillian Przybylski, Markus Pollard, Nancy Asfour, Tamim Dillmann, Rüdiger Institute for Anthropomatics Karlsruhe Institute of Technology Karlsruhe Germany Robotics Institute School of Computer Science Carnegie Mellon University Pittsburgh PA United States

ISBN: (纸本)9781424486885

In this paper, we present a method for representing and re-targeting manipulations for object adjustment before final grasping. Such pre-grasp manipulation actions bring objects into better configurations for grasping through e.g. object rotation or object sliding. For this purpose, we propose a scaling-invariant and rotation-invariant representation of the hand poses, which is then automatically adapted to the target object to perform the selected pre-grasp manipulations. We show that pre-grasp strategies such as sliding manipulations not only enable more robust object grasping, but also significantly increase the success rate for grasping. ©2010 IEEE.

关键词： humanoid robots humanoid robots manipulators object adjustment object manipulation object rotation object sliding pre-grasp strategy rotation-invariant representation scaling-invariant representation

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Adaptive neural control for nonlinear distributed time-delay systems with delay-dependent control gains

Adaptive neural control for nonlinear distributed time-delay...

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作者： Han, Thanh-Trung Sam, Ge Shuzhi Sun, Fuchun School of Automation Engineering University of Electronic Science and Technology of China Chengdu 611731 China University of Electronic Science and Technology of China Chengdu 611731 China Robotics Institute University of Electronic Science and Technology of China Chengdu 611731 China Department of Computer Science and Technology Tsinghua University Beijing 100084 China

ISBN: (纸本)9787894631046

This paper addresses the problem of output tracking control for a class of nonlinear distributed time-delay systems whose control gains are delay-dependent and whose uncertainty involves both delay times and system nonlinearities. We introduce the framework of using delay-independent control to deal with unknown distributed delay dependence and using switching-based adaptive neural control to deal with unknown delay-dependent control gains. The control is designed in consideration of a Razumikhin norm condition on retarded functional state entailing efficiency with distributed delay dependence.

关键词： Timing circuits

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QtImageLib: A cross-platform image processing library

QtImageLib: A cross-platform image processing library

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25th International Conference on computers and Their Applications 2010, CATA 2010

作者： Jacobs, Lucas Weiss, John M. Robotics and Intelligent Autonomous Systems South Dakota School of Mines and Technology 501 E. St. Joseph Street Rapid City SD 57701 United States Mathematics and Computer Science Department South Dakota School of Mines and Technology 501 E. St. Joseph Street Rapid City SD 57701 United States

ISBN: (纸本)9781617381102

We have developed a software library called QtImageLib that enables programmers to rapidly and easily create cross platform, high performance image processing applications. A simple image viewer, complete with dropdown menus, toolbar, scrollbars, cut-and-paste, pan and zoom, can be implemented in a few lines of C++ code. Image processing functionality, using built-in library routines or user software, can be added with a few more lines of code.

关键词： Image processing

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