2005 IEEE/RSJ International Conference on Intelligent Robots and Systems最新文献_第3页

Serpentine locomotion of a snake-like robot controlled by musical theory 由音乐理论控制的蛇形机器人的蛇形运动

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545436

Zhenli Lu, Shugen Ma, Bin Li, Yuechao Wang

引用次数: 6

Real time planar structure tracking for visual servoing: a contour and texture approach 用于视觉伺服的实时平面结构跟踪:轮廓和纹理方法

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545223

M. Pressigout, É. Marchand

引用次数: 32

Distributed multi-robot coalitions through ASyMTRe-D 基于asymre - d的分布式多机器人联盟

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545216

Fang Tang, L. Parker

{"title":"Distributed multi-robot coalitions through ASyMTRe-D","authors":"Fang Tang, L. Parker","doi":"10.1109/IROS.2005.1545216","DOIUrl":"https://doi.org/10.1109/IROS.2005.1545216","url":null,"abstract":"This paper presents a distributed reasoning system, called ASyMTRe-D, which enables a team of robots to form coalitions to accomplish a multi-robot task through tightly-coupled sensor sharing. The theoretical foundation of the negotiation protocol is ASyMTRe, an approach we developed previously to synthesize task solutions according to the task requirements and the team composition. The goal of the ASyMTRe approach is to increase the task solution capabilities of heterogeneous multi-robot teams by changing the fundamental abstraction from the typical \"task\" abstraction to a \"schema\" abstraction and automatically reconfigure the schemas to address the task at hand. The decision-making in this prior work was fully centralized; the current paper presents a distributed version of this approach based on the contract net protocol, which can achieve higher levels of robustness than the centralized version. The purpose here is not to improve the original protocol, but to apply it to our problem so that the autonomous task solution capabilities of robots can be achieved in a distributed manner. Simulation results are provided to validate the protocol with performance analysis. Finally, we compare ASyMTRe-D with the centralized ASyMTRe. Our future objective is to enable the human designer to specify the desired balance between solution quality and robustness, enabling the reasoning approach to invoke the appropriate level of information-sharing among robots to reach the specified solution characteristics.","PeriodicalId":189219,"journal":{"name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129668294","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: 37

Dependable localization strategy in dynamic real environments 动态真实环境下的可靠定位策略

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545088

Dongheui Lee, W. Chung

引用次数: 7

Making a robot recognize three simultaneous sentences in real-time 让机器人实时识别三个同时出现的句子

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545094

S. Yamamoto, K. Nakadai, J. Valin, J. Rouat, F. Michaud, Kazunori Komatani, T. Ogata, HIroshi G. Okuno

{"title":"Making a robot recognize three simultaneous sentences in real-time","authors":"S. Yamamoto, K. Nakadai, J. Valin, J. Rouat, F. Michaud, Kazunori Komatani, T. Ogata, HIroshi G. Okuno","doi":"10.1109/IROS.2005.1545094","DOIUrl":"https://doi.org/10.1109/IROS.2005.1545094","url":null,"abstract":"A humanoid robot under real-world environments usually hears mixtures of sounds, and thus three capabilities are essential for robot audition; sound source localization, separation, and recognition of separated sounds. We have adopted the missing feature theory (MFT) for automatic recognition of separated speech, and developed the robot audition system. A microphone array is used along with a real-time dedicated implementation of geometric source separation (GSS) and a multi-channel post-filter that gives us a further reduction of interferences from other sources. The automatic speech recognition based on MFT recognizes separated sounds by generating missing feature masks automatically from the post-filtering step. The main advantage of this approach for humanoid robots resides in the fact that the ASR with a clean acoustic model can adapt the distortion of separated sound by consulting the post-filter feature masks. In this paper, we used the improved Julius as an MFT-based automatic speech recognizer (ASR). The Julius is a real-time large vocabulary continuous speech recognition (LVCSR) system. We performed the experiment to evaluate our robot audition system. In this experiment, the system recognizes a sentence, not an isolated word. We showed the improvement in the system performance through three simultaneous speech recognition on the humanoid SIG2.","PeriodicalId":189219,"journal":{"name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"404 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123902360","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: 40

Calibration of lens distortion by structured-light scanning 用结构光扫描校正透镜畸变

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545167

R. Sagawa, Masaya Takatsuji, T. Echigo, Y. Yagi

引用次数: 43

Mobile sensor deployment for a dynamic cluster-based target tracking sensor network 基于动态集群的目标跟踪传感器网络的移动传感器部署

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545069

Xiaoning Shan, Jindong Tan

引用次数: 31

Development of carbon microcoils (CMC) sensor system with high sensitivity for effective acquisition of tactile information 开发高灵敏度碳微线圈(CMC)传感器系统，实现触觉信息的有效采集

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545266

K. Nishikawa, Young-Kwang Park, M. Aizuddin, K. Yoshinaga, Kouhei Ogura, M. Umezu, A. Takamshi

引用次数: 9

How deterministic must a real-time controller be? 实时控制器必须具有多大的确定性?

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545570

I. Gravagne, John M. Davis, R. Marks

引用次数: 15

Vision-based simultaneous localization and mapping with two cameras 基于视觉的同时定位和地图绘制与两个摄像头

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545496

Gab-Hoe Kim, Jong-Sung Kim, K. Hong

引用次数: 29