2005 IEEE/RSJ International Conference on Intelligent Robots and Systems最新文献_第9页

Proportion regulation for division of labor in multi-robot system 多机器人系统中分工的比例调节

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545400

K. Suseki, T. Mizuguchi, K. Sugawara, K. Kosuge

引用次数: 4

Exoskeletons for human power augmentation 增强人类力量的外骨骼

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545451

H. Kazerooni

引用次数: 190

Online dense local 3D world reconstruction from stereo image sequences 基于立体图像序列的在线密集局部三维世界重建

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545432

S. Kagami, Yutaka Takaoka, Yusuke Kida, K. Nishiwaki, T. Kanade

引用次数: 17

A design study of a cable-driven hexapod 缆索驱动六足机器人的设计研究

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545367

Yanto Go, A. Bowling

引用次数: 2

A multi-modal object attention system for a mobile robot 移动机器人多模态目标注意系统

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545191

A. Haasch, Nils Hofemann, J. Fritsch, G. Sagerer

引用次数: 74

Real time stiffness display interface device for perception of virtual soft object 用于虚拟软物体感知的实时刚度显示接口装置

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545131

Aiguo Song, D. Morris, J. Colgate, M. Peshkin

引用次数: 14

Decentralized approach for multi-robot task allocation problem with uncertain task execution 任务执行不确定的多机器人任务分配问题的分散方法

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545037

H. Hanna

{"title":"Decentralized approach for multi-robot task allocation problem with uncertain task execution","authors":"H. Hanna","doi":"10.1109/IROS.2005.1545037","DOIUrl":"https://doi.org/10.1109/IROS.2005.1545037","url":null,"abstract":"Existing task allocation methods for multi-robot generally consider the allocation of a task to a robot as a certain source of reward (real reward). In fact, they ignore the impact of the robots' uncertain behaviors on the solution quality and the obtained reward. In environments where task execution is uncertain, a robot can not know, during the allocation phase, whether it will be able to execute all the tasks that are allocated to it. That's why, in many recent and real applications, as planetary rovers, known task allocation mechanisms seem to be insufficient to provide good solutions in the light of uncertainty. In this paper, we address the problem of multi-robot task allocation for situations where task execution is uncertain. We propose an approach that allows robots to take into account the uncertain execution when they are negotiating the allocation of tasks. We decompose the problem into two stages. In the first stage, each robot locally selects tasks it would like to execute, basing its choice on some criterion. Since the resources consumption is uncertain, a criterion to select tasks can not only be the maximization of the robot's reward. We define a new criterion based on the notion of expected reward that provides a good tread-off between the reward of selected tasks and the chances to completely execute these tasks. The task selection mechanism will be formalized by a Markov decision process that allows maximizing the expected reward. In the second stage, an auctioning mechanism is used to allow robots acting in a decentralized way to coordinate their local choices and to allocate tasks.","PeriodicalId":189219,"journal":{"name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"34 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":"131706311","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

Robot-augmented communication: a remote-collaboration system based on a shared field of view in real space 机器人增强通信:基于真实空间共享视场的远程协作系统

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545507

T. Machino, Y. Nanjo, Y. Yanagihara, H. Kawata, S. Iwaki, K. Shimokura

{"title":"Robot-augmented communication: a remote-collaboration system based on a shared field of view in real space","authors":"T. Machino, Y. Nanjo, Y. Yanagihara, H. Kawata, S. Iwaki, K. Shimokura","doi":"10.1109/IROS.2005.1545507","DOIUrl":"https://doi.org/10.1109/IROS.2005.1545507","url":null,"abstract":"To create a more efficient environment in which to perform remote maintenance, the authors propose a novel collaboration concept, called robot-augmented communication (RAC). In RAC a maintenance robot and an on-site human worker are assisted by another skilled human operator at a remote support center. By emphasizing the intentions of the remote supporter through robot functions that cannot be imitated by humans, RAC can provide effective support for the on-site worker. In the present study, as the first manifestation of RAC, featuring the projection capability of a maintenance robot, a prototype remote-collaboration system named SCOPE (sight collaboration by projection effect) was developed. This system consists of a projector unit with a camera, a multiple control unit (MCU) for video/voice communications, and PCs connected via a network. It has three key functions: creating a shared field of view between a remote supporter and an on-site worker, keeping meta-information related to objects in real space, and projecting meta-information onto the objects. The effectiveness of these functions was evaluated by experiments on two fundamental tasks $\"comprehending a target object\" and \"transmission of instruction details\" nvolved in a typical maintenance operation. The experimental results show that each function is effective in shortening the time taken to perform the maintenance operation.","PeriodicalId":189219,"journal":{"name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"14 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":"129265083","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: 7

Trajectory tracking performance in task space of robot manipulators: an adaptive neural controller design 机器人机械手任务空间的轨迹跟踪性能:一种自适应神经控制器设计

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545309

N. Martins, M. Figueiredo, Paulo César Goncalves, M. Alencar, Francisco Alexandre Ribeiro de Alencar

引用次数: 5

An algorithm for testing object caging condition by multiple mobile robots 一种多移动机器人物体笼化状态测试算法

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545378

Z. Wang, Y. Hirata, K. Kosuge

引用次数: 29