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2007 IEEE/RSJ International Conference on Intelligent Robots and Systems最新文献

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The more the better? A discussion about line features for self-localization 越多越好?自定位中线特征的讨论
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399346
F. Mastrogiovanni, A. Sgorbissa, R. Zaccaria
{"title":"The more the better? A discussion about line features for self-localization","authors":"F. Mastrogiovanni, A. Sgorbissa, R. Zaccaria","doi":"10.1109/IROS.2007.4399346","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399346","url":null,"abstract":"The paper deals with the role of line features in mobile robot self-localization, when an extended Kalman filter is adopted for position tracking. First, a theoretical analysis is introduced, showing how the \"length\" of each extracted line (i.e., the number of the contributing range measurements) affects the localization accuracy. Second, a novel approach that takes into account the main findings of the theoretical analysis is considered. Finally, experimental results are used to validate the system.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"67 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124580077","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
Learning-enhanced market-based task allocation for oversubscribed domains 学习增强的基于市场的超额订阅域任务分配
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399534
E. Jones, M. Dias, A. Stentz
{"title":"Learning-enhanced market-based task allocation for oversubscribed domains","authors":"E. Jones, M. Dias, A. Stentz","doi":"10.1109/IROS.2007.4399534","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399534","url":null,"abstract":"This paper presents a learning-enhanced market-based task allocation approach for oversubscribed domains. In oversubscribed domains all tasks cannot be completed within the required deadlines due to a lack of resources. We focus specifically on domains where tasks can be generated throughout the mission, tasks can have different levels of importance and urgency, and penalties are assessed for failed commitments. Therefore, agents must reason about potential future events before making task commitments. Within these constraints, existing market-based approaches to task allocation can handle task importance and urgency, but do a poor job of anticipating future tasks, and are hence assessed a high number of penalties. In this work, we enhance a baseline market-based task allocation approach using regression-based learning to reduce overall incurred penalties. We illustrate the effectiveness of our approach in a simulated disaster response scenario by comparing performance with a baseline market-approach.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114868932","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: 53
Collision detection in legged locomotion using supervised learning 基于监督学习的腿式运动碰撞检测
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399538
F. Doshi-Velez, E. Brunskill, Alexander C. Shkolnik, T. Kollar, Khashayar Rohanimanesh, Russ Tedrake, N. Roy
{"title":"Collision detection in legged locomotion using supervised learning","authors":"F. Doshi-Velez, E. Brunskill, Alexander C. Shkolnik, T. Kollar, Khashayar Rohanimanesh, Russ Tedrake, N. Roy","doi":"10.1109/IROS.2007.4399538","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399538","url":null,"abstract":"We propose a fast approach for detecting collision- free swing-foot trajectories for legged locomotion over extreme terrains. Instead of simulating the swing trajectories and checking for collisions along them, our approach uses machine learning techniques to predict whether a swing trajectory is collision-free. Using a set of local terrain features, we apply supervised learning to train a classifier to predict collisions. Both in simulation and on a real quadruped platform, our results show that our classifiers can improve the accuracy of collision detection compared to a real-time geometric approach without significantly increasing the computation time.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114878427","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
Distributed kinematic inversion technique for modular robotic systems 模块化机器人系统的分布式运动学反演技术
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399037
G. Casalino, A. Turetta, A. Sorbara
{"title":"Distributed kinematic inversion technique for modular robotic systems","authors":"G. Casalino, A. Turetta, A. Sorbara","doi":"10.1109/IROS.2007.4399037","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399037","url":null,"abstract":"The present work considers modular robotic structures equipped with an embedded control architecture and proposes a distributed kinematic inversion technique enabling the execution of manipulation operations. The presented strategy is not based on role assignments; all the modules are identical from the control point of view and can be therefore added, removed or exchanged on wish, with no impact on the overall control architecture. In addition every module has just to a-priori know a very limited set of local information while can be totally unaware about the characteristics of the remaining part of the chain. All the information needed for coordination are indeed on-line obtained through communication with other modules. No external centralized controller knowing the overall robot geometry and kinematics is necessary. More simply a global self-coordinating behaviour is autonomously established and propagated along the chain through data-exchanges.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114906712","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: 1
From path to trajectory deformation 从路径到轨迹的变形
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399235
H. Kurniawati, Thierry Fraichard
{"title":"From path to trajectory deformation","authors":"H. Kurniawati, Thierry Fraichard","doi":"10.1109/IROS.2007.4399235","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399235","url":null,"abstract":"Path deformation is a technique that was introduced to generate robot motion wherein a path, that has been computed beforehand, is continuously deformed on-line in response to unforeseen obstacles. This paper introduces the first trajectory deformation scheme as an effort to improve path deformation. The main idea is that by incorporating the time dimension and hence information on the obstacles' future behaviour, quite a number of situations where path deformation would fail can be handled. The trajectory deformation scheme presented operates in two steps, ie, a collision avoidance step and a connectivity maintenance step, hence its name 2-step-trajectory-deformer (2-STD). In the collision avoidance step, repulsive forces generated by the obstacles deform the trajectory so that it remains collision-free. The purpose of the connectivity maintenance step is to ensure that the deformed trajectory remains feasible, ie, that it satisfies the robot's kinematic and/or dynamic constraints. Moreover, unlike path deformation wherein spatial deformation only takes place, 2-STD features both spatial and temporal deformation. It has been tested successfully on a planar robot with double integrator dynamics moving in dynamic environments.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114959040","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: 31
Recovering the position and orientation of a mobile robot from a single image of identified landmarks 从已识别地标的单个图像中恢复移动机器人的位置和方向
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399059
Wenfei Liu, Yu Zhou
{"title":"Recovering the position and orientation of a mobile robot from a single image of identified landmarks","authors":"Wenfei Liu, Yu Zhou","doi":"10.1109/IROS.2007.4399059","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399059","url":null,"abstract":"This paper introduces a novel self-localization algorithm for mobile robots, which recovers the robot position and orientation from a single image of identified landmarks taken by an onboard camera. The visual angle between two landmarks can be derived from their projections in the same image. The distances between the optical center and the landmarks can be calculated from the visual angles and the known landmark positions based on the law of cosine. The robot position can be determined using the principle of trilateration. The robot orientation is then computed from the robot position, landmark positions and their projections. Extensive simulation has been carried out. A comprehensive error analysis provides the insight on how to improve the localization accuracy.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"452 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114959978","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
Experimental kinematics for wheeled skid-steer mobile robots 轮式滑转向移动机器人的实验运动学
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399139
A. Mandow, Jorge L. Martínez, J. Morales, J. Blanco, A. García-Cerezo, Javier González
{"title":"Experimental kinematics for wheeled skid-steer mobile robots","authors":"A. Mandow, Jorge L. Martínez, J. Morales, J. Blanco, A. García-Cerezo, Javier González","doi":"10.1109/IROS.2007.4399139","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399139","url":null,"abstract":"This work aims at improving real-time motion control and dead-reckoning of wheeled skid-steer vehicles by considering the effects of slippage, but without introducing the complexity of dynamics computations in the loop. This traction scheme is found both in many off-the-shelf mobile robots due to its mechanical simplicity and in outdoor applications due to its maneuverability. In previous works, we reported a method to experimentally obtain an optimized kinematic model for skid-steer tracked vehicles based on the boundedness of the instantaneous centers of rotation (ICRs) of treads on the motion plane. This paper provides further insight on this method, which is now proposed for wheeled skid-steer vehicles. It has been successfully applied to a popular research robotic platform, pioneer P3-AT, with different kinds of tires and terrain types.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114961344","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: 173
Dynamometer power output measurements of piezoelectric actuators 压电致动器功率输出测量
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399067
E. Steltz, R. Fearing
{"title":"Dynamometer power output measurements of piezoelectric actuators","authors":"E. Steltz, R. Fearing","doi":"10.1109/IROS.2007.4399067","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399067","url":null,"abstract":"Piezoelectric bending actuators are an attractive option for driving microrobots due to their light weight, scalability, ease of integration and high bandwidth. However, the only existing energy or power output measurements for piezoelectric bending actuators have been extrapolated from DC values or unloaded AC values and are most likely overestimates. For microrobot applications such as flapping flight, accurate measures of power density are critical. In this work, to properly measure the energy output of a lOmg piezoelectric actuator, a custom dynamometer is designed and constructed to directly measure the power output at various frequencies and conditions. The dynamometer can simulate a pure resistive load at resonant frequencies from 1 to 100Hz. Due to low internal damping and fracture limits, actuators cannot be run in the matched condition at high fields (> 1 V/mum). Using the device, energy output per cycle at 1.6 V/mum was measured to be a maximum of 19.1 muJ/cycle (232 mum amplitude, 30Hz), giving a delivered energy density per cycle of 1.89J/kg. Internal actuator damping was measured at 1 V/mum to account for an energy loss of only 0.21muJ per cycle (232 mum amplitude, 30Hz).","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116283119","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: 20
Object transportation by multiple mobile robots controlled by attractor dynamics: theory and implementation 由吸引子动力学控制的多移动机器人的物体运输:理论与实现
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399019
Rui Soares, E. Bicho, Toni Machado, W. Erlhagen
{"title":"Object transportation by multiple mobile robots controlled by attractor dynamics: theory and implementation","authors":"Rui Soares, E. Bicho, Toni Machado, W. Erlhagen","doi":"10.1109/IROS.2007.4399019","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399019","url":null,"abstract":"Dynamical systems theory is used as a theoretical language and tool to design a distributed control architecture for teams of mobile robots, that must transport a large object and simultaneously avoid collisions with (either static or dynamic) obstacles. Here we demonstrate in simulations and implementations in real robots that it is possible to simplify the architectures presented in previous work and to extend the approach to teams of n robots. The robots have no prior knowledge of the environment. The motion of each robot is controlled by a time series of asymptotical stable states. The attractor dynamics permits the integration of information from various sources in a graded manner. As a result, the robots show a strikingly smooth an stable team behaviour.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123224429","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: 26
Long-Term learning using multiple models for outdoor autonomous robot navigation 基于多模型的户外自主机器人导航长期学习
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399583
Michael J. Procopio, J. Mulligan, G. Grudic
{"title":"Long-Term learning using multiple models for outdoor autonomous robot navigation","authors":"Michael J. Procopio, J. Mulligan, G. Grudic","doi":"10.1109/IROS.2007.4399583","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399583","url":null,"abstract":"Autonomous robot navigation in unstructured outdoor environments is a challenging area of active research. The navigation task requires identifying safe, traversable paths which allow the robot to progress toward a goal while avoiding obstacles. One approach is to apply Machine Learning techniques that accomplish near to far learning by augmenting near-field Stereo to identify safe terrain and obstacles in the far field. Some mechanism for applying past learned experience to the active navigation task is crucial for effective far-field classification. We introduce a new method for long-term learning in the robot navigation task by selecting a subset of previously learned linear binary classifiers. We then combine their output to produce a final classification for a new image. Techniques for efficient selection of models, as well as the combination of their output, are addressed. We evaluate the performance of our technique on three fully labeled datasets, and show that our technique outperforms several baseline techniques that do not leverage past experience.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"84 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121916525","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: 19
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