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2006 IEEE 3rd Latin American Robotics Symposium最新文献

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Autonomous mobile robots designing for the medical trash collector task 用于医疗垃圾收集任务的自主移动机器人设计
2006 IEEE 3rd Latin American Robotics Symposium Pub Date : 2006-12-01 DOI: 10.1109/LARS.2006.334349
Alexandre da Silva Simões, Ronaldo Carrion, Antonio Cesar Germano Martins, R. B. Costa, Alyson F. Schvarcz, Vinicius R. Buzo, Marcelo H. Felipe, Bruno Ferrari
{"title":"Autonomous mobile robots designing for the medical trash collector task","authors":"Alexandre da Silva Simões, Ronaldo Carrion, Antonio Cesar Germano Martins, R. B. Costa, Alyson F. Schvarcz, Vinicius R. Buzo, Marcelo H. Felipe, Bruno Ferrari","doi":"10.1109/LARS.2006.334349","DOIUrl":"https://doi.org/10.1109/LARS.2006.334349","url":null,"abstract":"This paper describes the UNESP robotic team in the medical trash collector task, proposed on the 5th IEEE Latin American Robots Competition in the LEGO category. We present our understanding of the task and discuss the proposed solution, focusing on the mechanical and computational issues of the robots. The mechanics is based on rigid body capability of transforming rotational into curvilinear movement. With respect to the computational control, the system is modeled as a reactive system with sequential transition of behaviors. A state-machine is proposed to allow this transition, and the synchronization of robotic states is guaranteed by the communication system. The proposed approach has shown itself capable of dealing with the high difficulty degree of this cooperative task","PeriodicalId":129005,"journal":{"name":"2006 IEEE 3rd Latin American Robotics Symposium","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125959348","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 4
Communications for cooperation: the RoboCup 4-legged passing challenge 交流合作:机器人世界杯四足传球挑战
2006 IEEE 3rd Latin American Robotics Symposium Pub Date : 2006-10-08 DOI: 10.1109/LARS.2006.334340
C. E. A. Duran, V. Matellán, J. Cañas, F. Martín, Miguel A. Ortuno Perez
{"title":"Communications for cooperation: the RoboCup 4-legged passing challenge","authors":"C. E. A. Duran, V. Matellán, J. Cañas, F. Martín, Miguel A. Ortuno Perez","doi":"10.1109/LARS.2006.334340","DOIUrl":"https://doi.org/10.1109/LARS.2006.334340","url":null,"abstract":"Communications are the basis for the collaborative activities in the TeamChaos 4-legged team. In this paper we present the communications architecture developed both to let teammates communicate, and to easy the debugging of robot behaviors from external computers. Details of its implementation on the aiBo robots are also given. Using this infrastructure we describe a protocol for role exchange named Switch! that we have created. We also describe the use of both the communication architecture, and the Switch! protocol in the passing challenge of the 2006 edition of the RoboCup","PeriodicalId":129005,"journal":{"name":"2006 IEEE 3rd Latin American Robotics Symposium","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116930312","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Trajectory Prediction of Multiple RoboCup F-180 Autonomous Mobile Robots for Perception-Latency Compensation 基于感知延迟补偿的多台RoboCup F-180自主移动机器人轨迹预测
2006 IEEE 3rd Latin American Robotics Symposium Pub Date : 2006-10-01 DOI: 10.1109/LARS.2006.334318
J.-L. Peralta, M. Torres, M. Guarini
{"title":"Trajectory Prediction of Multiple RoboCup F-180 Autonomous Mobile Robots for Perception-Latency Compensation","authors":"J.-L. Peralta, M. Torres, M. Guarini","doi":"10.1109/LARS.2006.334318","DOIUrl":"https://doi.org/10.1109/LARS.2006.334318","url":null,"abstract":"This paper presents an assessment of different estimation and prediction techniques applied to the tracking of multiple robots under RoboCup F-180 environment. The main assessment criteria are the magnitude of the estimation or prediction error, the computational effort and the robustness of each method under non-Gaussian noise. Among the different techniques compared are the well known Kalman filters and their different variants (extended and unscented), and the more recent techniques relying on sequential Monte Carlo sampling methods, such as particle filters, and sigma-points filters","PeriodicalId":129005,"journal":{"name":"2006 IEEE 3rd Latin American Robotics Symposium","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114988394","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Analysis and Design of a Wheeled Holonomic Omnidirectional Robot 轮式完整全向机器人的分析与设计
2006 IEEE 3rd Latin American Robotics Symposium Pub Date : 2006-10-01 DOI: 10.1109/LARS.2006.334341
F. Cuéllar
{"title":"Analysis and Design of a Wheeled Holonomic Omnidirectional Robot","authors":"F. Cuéllar","doi":"10.1109/LARS.2006.334341","DOIUrl":"https://doi.org/10.1109/LARS.2006.334341","url":null,"abstract":"The present work deals with the understanding of the kinematic equations and design of a wheeled mobile robot based on holonomic motion. The robot offers exceptional mobility because it could perform translation and rotation at the same time. This technology may displace existing wheeled mobile robots because it is more efficient and dexterous. Finally, based on the conceptual design, the mechanical structure, electronics and experimental results of a high mobility omnidirectional platform are presented","PeriodicalId":129005,"journal":{"name":"2006 IEEE 3rd Latin American Robotics Symposium","volume":"46 16","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120975012","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 8
Context - dependent color segmentation for Aibo robots Aibo机器人基于上下文的颜色分割
2006 IEEE 3rd Latin American Robotics Symposium Pub Date : 2006-10-01 DOI: 10.1109/LARS.2006.334334
R. Palma-Amestoy, P. Guerrero, P. Vallejos, J. Ruiz-del-Solar
{"title":"Context - dependent color segmentation for Aibo robots","authors":"R. Palma-Amestoy, P. Guerrero, P. Vallejos, J. Ruiz-del-Solar","doi":"10.1109/LARS.2006.334334","DOIUrl":"https://doi.org/10.1109/LARS.2006.334334","url":null,"abstract":"Color segmentation is a key step in any color-based robot vision system. The main factors that affect the performance of the segmentation process are the variable lighting conditions of the environment, the natural overlap between the color classes in the color space, and the distortion produced in the images by the movement of the camera and the robot. In the context of the robot soccer championship RoboCup, several segmentation approaches have been proposed, most of them based on an off-line calibration phase where a look-up table is generated for the on-line system operation. The here proposed approach employs ambiguous colors as a way of including in the calibration process the natural uncertainness of the problem. Thus, the color segmentation result is not completely defined in the calibration phase. During on-line operation a mode filter is employed for incorporating context information in the discrimination of the final class of the colors. Successful results of the application of the proposed dynamic color segmentation methodology are shown in the context of the RoboCup four-legged league","PeriodicalId":129005,"journal":{"name":"2006 IEEE 3rd Latin American Robotics Symposium","volume":"239 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134238505","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 14
A simple and efficient Road Detection Algorithm for Real Time Autonomous Navigation based on Monocular Vision 一种基于单目视觉的实时自主导航道路检测算法
2006 IEEE 3rd Latin American Robotics Symposium Pub Date : 2006-10-01 DOI: 10.1109/LARS.2006.334325
Arthur de Miranda Neto, Leticia Rittner
{"title":"A simple and efficient Road Detection Algorithm for Real Time Autonomous Navigation based on Monocular Vision","authors":"Arthur de Miranda Neto, Leticia Rittner","doi":"10.1109/LARS.2006.334325","DOIUrl":"https://doi.org/10.1109/LARS.2006.334325","url":null,"abstract":"Navigation of a mobile robot is based on its interaction with the environment, through information acquired by sensors. By incorporating several kinds of sensors in autonomous vehicles, it is possible to improve their autonomy and \"intelligence\", specially regarding mobile robot navigation in unknown environment. The type and number of sensors determines the data volume necessary for the processing and composition of the image from the environment. Nevertheless, the excess of information imposes a great computational cost in data processing. Currently many applications for control of autonomous vehicles are being developed, for example, the grand challenge, world-wide championship organized by DARPA (Defense Advanced Research Projects Agency). Machine vision is, together with a set of sensors, one of the tools used in the championship. In our work, we propose a mobile robot navigation software based in monocular vision. Our system is organized in hierarchic and independent layers, with distributed processing. After reading an image, the system processes, segments and identifies the navigation area (road detection), that will be used as input by a motion generator system. The considered system is based on images acquired by a single camera and uses simple filtering and thresholding techniques, which make it fast and efficient for real time navigation","PeriodicalId":129005,"journal":{"name":"2006 IEEE 3rd Latin American Robotics Symposium","volume":"336 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115881632","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 18
Modular Creation of Neuronal Networks for Autonomous Robot Control 自主机器人控制中神经元网络的模块化创建
2006 IEEE 3rd Latin American Robotics Symposium Pub Date : 2006-10-01 DOI: 10.4114/IA.V11I35.899
Germán L. Osella Massa, Hernán Vinuesa, L. Lanzarini
{"title":"Modular Creation of Neuronal Networks for Autonomous Robot Control","authors":"Germán L. Osella Massa, Hernán Vinuesa, L. Lanzarini","doi":"10.4114/IA.V11I35.899","DOIUrl":"https://doi.org/10.4114/IA.V11I35.899","url":null,"abstract":"In general, complex control tasks can be solved by dividing them into simpler ones which are easier to handle. Several authors have developed different solutions that combine layer evolution techniques with evolving neural networks, giving rise to controllers made up by several networks. In this type of solution, the selection of the module to be used in each case is not an easy problem to solve. This paper is focused on the presentation of a new evolving mechanism that allows combining the modules which solve the different parts of a problem, giving place to a single recurrent neural network. In this way, simple modules which are trained independently of the problem to solve are used. The communication among them is established by evolution, which gives rise to a single neural network representing the expected solution. The proposed method in this paper has been used to solve the problem of obstacle evasion and target reaching using a Khepera II robot. The tests carried out, both in the simulated environment and over the real robot, have yielded really successful results","PeriodicalId":129005,"journal":{"name":"2006 IEEE 3rd Latin American Robotics Symposium","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129095823","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 5
Mining Opponent Behavior: A Champion of RoboCup Coach Competition 挖掘对手行为:机器人世界杯教练比赛冠军
2006 IEEE 3rd Latin American Robotics Symposium Pub Date : 2006-10-01 DOI: 10.1109/LARS.2006.334315
R. Fathzadeh, V. Mokhtari, M. Mousakhani, T. Mahmoudi
{"title":"Mining Opponent Behavior: A Champion of RoboCup Coach Competition","authors":"R. Fathzadeh, V. Mokhtari, M. Mousakhani, T. Mahmoudi","doi":"10.1109/LARS.2006.334315","DOIUrl":"https://doi.org/10.1109/LARS.2006.334315","url":null,"abstract":"Opponent modeling is one of the most attractive and practical arenas in multi agent system (MAS) for predicting and identifying the future behaviors of opponent. This paper introduces an approach towards opponent modeling in RoboCup Soccer Coach Simulation. In this scene, an autonomous coach agent is able to identify the weaknesses or patterns of the opponent by analyzing the opponent's past games and advising own players. To gain this goal, we introduce a 3-tier learning architecture. At first, by gathering data from the environment, sequential events of the players are identified. Then the weaknesses or patterns of the opponent are predicted using statistical calculations. Eventually, by comparing the opponent patterns with the rest of team's behavior, a model of the opponent is constructed. According to this architecture, coach models the opponent and to simplify pattern recognition, provides an appropriate strategy to play against the opponent. This structure is tested in RoboCup Soccer Coach Simulation and MRLCoach was the champion at Iran Open 2006","PeriodicalId":129005,"journal":{"name":"2006 IEEE 3rd Latin American Robotics Symposium","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131256379","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 12
Automata-based Supervisory Controller for a Mobile Robot Team 基于自动机的移动机器人团队监控控制器
2006 IEEE 3rd Latin American Robotics Symposium Pub Date : 2006-10-01 DOI: 10.1109/LARS.2006.334321
A. Tsalatsanis, A. Yalcin, K. Valavanis
{"title":"Automata-based Supervisory Controller for a Mobile Robot Team","authors":"A. Tsalatsanis, A. Yalcin, K. Valavanis","doi":"10.1109/LARS.2006.334321","DOIUrl":"https://doi.org/10.1109/LARS.2006.334321","url":null,"abstract":"Finite state automata are used as a modeling tool to derive and design a supervisory controller to coordinate and monitor collective and individual member functionality (behavior) of a mobile robot team, considering real-time robot sensor failures and repairs. The proposed supervisory control model is composed of a high level controller and a set of supervisory control modules. The high level controller activates the appropriate supervisor that redistributes task assignments to the robots in case of resource failures and repairs. The set of individual supervisory control modules (supervisors) all observe the activities of the robots and only the active supervisor provides control feedback to the robot team. The controller design accommodates flexibility in tasks assignment, robot cooperation, task prioritization and sequencing to accomplish a set of objectives. A team of mobile robots patrolling a warehouse is used as an example to demonstrate implementation aspects of the proposed supervisory controller","PeriodicalId":129005,"journal":{"name":"2006 IEEE 3rd Latin American Robotics Symposium","volume":"105 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131532967","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 8
Wireless Reception Signal Strength for Relative Positioning in a Vehicle Robot Formation 车辆机器人编队中相对定位的无线接收信号强度
2006 IEEE 3rd Latin American Robotics Symposium Pub Date : 2006-10-01 DOI: 10.1109/LARS.2006.334330
Arturo Gil-Pinto, P. Fraisse, R. Zapata
{"title":"Wireless Reception Signal Strength for Relative Positioning in a Vehicle Robot Formation","authors":"Arturo Gil-Pinto, P. Fraisse, R. Zapata","doi":"10.1109/LARS.2006.334330","DOIUrl":"https://doi.org/10.1109/LARS.2006.334330","url":null,"abstract":"An integration of the wireless network signal strength data with the vehicle sensors information by means of a Kalman filter is proposed to estimated the relative position of each vehicle in a robot formation set. Vehicle sensors consist of wheel speed and steering angle, the WiFi data consist of reception signal strength (RSS) and the angle of the maximal RSS with respect to the robot orientation. A nonholonomic nonlinear model vehicle is considered, due to this nonlinearities a extended Kalman filter EKF is used. Simulation and experimental results of the proposed estimation strategy are presented","PeriodicalId":129005,"journal":{"name":"2006 IEEE 3rd Latin American Robotics Symposium","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128068765","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 5
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