发布求助
文献互助 智能选刊 最新文献

1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97最新文献

筛选
英文 中文
Mobile robot self-localization by iconic matching of range maps 基于距离地图图标匹配的移动机器人自定位
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620220
C. Olson
{"title":"Mobile robot self-localization by iconic matching of range maps","authors":"C. Olson","doi":"10.1109/ICAR.1997.620220","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620220","url":null,"abstract":"This paper examines techniques for a mobile robot to perform self-localization in natural terrain using stereo vision. The range map computed from a stereo image pair is first processed to generate a three-dimensional occupancy map of the terrain. This occupancy map as then compared to a similar map in a known frame of reference. The optimal relative position between the maps with respect to a Hausdorff measure as determined using efficient search techniques. These techniques allow the localization of a mobile robot to be performed robustly in natural terrain, even in the presence of noise, scene clutter, and missing data. Motivation for studying this problem is the Rocky 7 Mars rover.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124398534","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: 42
Human computer cooperation in interactive motion planning 人机协同交互运动规划
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620239
Y. K. Hwang, K. Cho, Sooyong Lee, S.M. Park, Sungchul Kang
{"title":"Human computer cooperation in interactive motion planning","authors":"Y. K. Hwang, K. Cho, Sooyong Lee, S.M. Park, Sungchul Kang","doi":"10.1109/ICAR.1997.620239","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620239","url":null,"abstract":"This paper presents an interactive motion planning system that generates collision-free motions of robots or objects. The problem of planning collision-free motions has a high complexity, and most motion-planning programs often take a long time to plan motions when the environment is cluttered. Humans on the other use a set of learned heuristics to effortlessly plan collision-free motions, but do not have as good of an accuracy in geometric collision checking as the motion-planning programs. The proposed system provides the user with a facility to utilize the heuristic power of humans along with the algorithmic power and the geometric accuracy of motion-planning programs. More specifically, the user performs a global analysis of the environment and specifies robot's configurations (called subgoals) critical to finding a collision-free path, while a motion-planning program performs collision checking and finds a collision-free paths between subgoals. It has resulted in a system that is much more powerful and efficient than either a human or a computer algorithm in motion planning tasks. This system is expected to reduce motion planning time drastically for tele-operated robot manipulators and for verification of feasible part motions in mechanical assembly.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121820516","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: 23
Dead reckoning navigation for an autonomous mobile robot using a differential encoder and a gyroscope 基于差分编码器和陀螺仪的自主移动机器人航位推算导航
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620219
Kyucheol Park, Hakyoung Chung, Jongbin Choi, Jang-Gyu Lee
{"title":"Dead reckoning navigation for an autonomous mobile robot using a differential encoder and a gyroscope","authors":"Kyucheol Park, Hakyoung Chung, Jongbin Choi, Jang-Gyu Lee","doi":"10.1109/ICAR.1997.620219","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620219","url":null,"abstract":"Dead reckoning navigation algorithm using a differential encoder and a gyroscope is proposed for an autonomous mobile robot (AMR). The indirect Kalman filter which feeds back the error estimates to the main navigation algorithm mutually compensates the differential encoder errors and the gyroscope errors. The experimental results show that the proposed AMR navigation algorithm provides the reliable position and heading of the AMR without any external positioning system.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"193 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125171928","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: 29
Experimental studies on minimal representation multisensor fusion 最小表示多传感器融合实验研究
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620244
R. Joshi, A. Sanderson
{"title":"Experimental studies on minimal representation multisensor fusion","authors":"R. Joshi, A. Sanderson","doi":"10.1109/ICAR.1997.620244","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620244","url":null,"abstract":"We describe laboratory experiments, in which tactile data obtained from the finger-tips of a robot hand, while it is holding an object in front of a calibrated camera, is fused with the vision data from the camera, to determine the object identity, pose, and the touch and vision data correspondences. The touch data is incomplete due to required hand configurations, while nearly half of the vision data are spurious due to the presence of the hand in the image. Using either sensor alone results in ambiguous or incorrect interpretations. A minimal representation size framework is used to formulate the multisensor fusion problem, and can automatically select the object class, correspondence (data subsamples), and pose parameters. The experiments demonstrate that it consistently finds the correct interpretation, and is a practical method for multisensor fusion and model selection.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123307992","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
An interactive method for controlling group size in multiple mobile robot systems 多移动机器人系统中群体规模控制的交互式方法
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620183
O. Holland, C. Melhuish
{"title":"An interactive method for controlling group size in multiple mobile robot systems","authors":"O. Holland, C. Melhuish","doi":"10.1109/ICAR.1997.620183","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620183","url":null,"abstract":"This paper proposes a method of controlling group size in multi-robot systems with very limited computational abilities, such as micro- or nano-robots. The method is loosely modelled on the signalling behaviour of species such as crickets, frogs, and fireflies, where males attract females by making periodic calls or light flashes. A characteristic of such behaviour is that groups of animals broadcast their signals in synchrony, forming a chorus. In this paper, synchrony is used in conjunction with random deviations from synchrony in order to enable each individual to estimate the size of the group over a period of time; since an individual will approach a group of below the required size, and leave a group which is above that size, group size should remain around the target value. Results from simulations are presented which show that the mechanism is feasible. The development of a robotic system to use this method is described.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116562661","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: 17
Cooperative search and rescue with a team of mobile robots 与移动机器人团队合作搜索和救援
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620182
James S Jennings, Greg Whelan, W. F. Evans
{"title":"Cooperative search and rescue with a team of mobile robots","authors":"James S Jennings, Greg Whelan, W. F. Evans","doi":"10.1109/ICAR.1997.620182","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620182","url":null,"abstract":"We present an implemented algorithm for a distributed team of autonomous mobile robots to search for an object. When one robot finds it, they all gather around it, and then manipulate (\"rescue\") it. The algorithm exploits parallelism, with all robots searching concurrently, and also teamwork, because the manipulation is performed cooperatively. Our algorithm is fully distributed; the robots communicate with each other, and there is no central server or supervisor. Applications include hazardous waste cleanup, bomb detection and removal, materials delivery, and eventually the rescue of survivors of accidents or disasters. The search and rescue program was written using MOVER, a programming system for distributed tasks. The system provides high-level programming constructs for task distribution across robots. Finally, MOVER encourages code re-use because the task distribution mechanism can synchronize any set of procedures (without rewriting), allowing the programmer of a distributed task to access libraries of robot software written for single-robot tasks.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"255 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122879802","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: 313
Neuro-sliding mode control of robotic manipulators 机械臂的神经滑模控制
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620296
M. Ertugrul, O. Kaynak
{"title":"Neuro-sliding mode control of robotic manipulators","authors":"M. Ertugrul, O. Kaynak","doi":"10.1109/ICAR.1997.620296","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620296","url":null,"abstract":"In this paper, a synergistic combination of neural networks with sliding mode control (SMC) is proposed. As a result, the chattering is eliminated and error performance of SMC is improved. In such an approach, two parallel NNs are proposed to realize SMC. The equivalent control and the corrective term of SMC are the outputs of the NNs. The gradient descent method is used for the weight adaptation. This novel approach is applied to control of a SCARA type robot manipulator and simulation results are given.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124670826","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: 208
Reference adaptive impedance control: a new paradigm for event-based robotic and telerobotic control 参考自适应阻抗控制:基于事件的机器人和遥控机器人控制的新范例
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620252
Sukhan Lee, M. Jean, Jong-Oh Park, Chongwon Lee
{"title":"Reference adaptive impedance control: a new paradigm for event-based robotic and telerobotic control","authors":"Sukhan Lee, M. Jean, Jong-Oh Park, Chongwon Lee","doi":"10.1109/ICAR.1997.620252","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620252","url":null,"abstract":"A new paradigm of event-based robotic and telerobotic control, referred to here as the reference adaptive impedance control, is presented for partially constrained robotic and telerobotic tasks under uncertain or unknown environmental constraints. The reference adaptive impedance control determines the desired next state adaptively, in such a way as to follow the optimal path from the current state, where the optimal path is generated with the environmental constraints updated through time. The embedded impedance control provides a mechanism for collecting more complete information on the environment. The reference adaptive impedance control also serves as a powerful tool for implementing shared control in teleoperation. A case study of robotic and telerobotic soil trenching is given with simulations.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123949599","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: 3
Internet-based telerobotics: problems and approaches 基于互联网的远程机器人:问题和方法
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620268
P. Fiorini, R. Oboe
{"title":"Internet-based telerobotics: problems and approaches","authors":"P. Fiorini, R. Oboe","doi":"10.1109/ICAR.1997.620268","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620268","url":null,"abstract":"This paper describes the main issues facing the development of telerobotics systems connected to the Internet. The initial hurdle relates to the definition and implementation of an appropriate communication protocol for delivering real-time data. Two of the solutions proposed in the literature are briefly summarized. Then the paper examines the issues relevant to control systems in the presence of time delay, with particular reference to telerobotic systems with force feedback. The delay introduced by Internet connections have specific characteristics that are briefly summarized, together with the control theory approaches available to design stable algorithms. Finally, we present the results of experiments aimed at representing typical Internet connections in terms of parameters useful for the design of a control systems.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116496070","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: 84
Modular client/server architecture in multipurpose manufacturing cells 多用途制造单元中的模块化客户机/服务器架构
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620274
P. Marino, F. Poza, J. Nogueira
{"title":"Modular client/server architecture in multipurpose manufacturing cells","authors":"P. Marino, F. Poza, J. Nogueira","doi":"10.1109/ICAR.1997.620274","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620274","url":null,"abstract":"Shop floor communications networks are evolving towards the increased use of open connecting equipment, that meets standard protocols, under a client/server architecture. An implementation of a such communications server, based on a low cost PC with multiport and field bus cards, is presented. The first prototype has been designed as a black box transparent to flexible manufacturing plants, connecting with sixteen Scara robots and thirty programmable logic controllers.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"90 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121513895","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: 3
下一页 尾页
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整，为了账户安全，请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们：info@booksci.cn Book学术提供免费学术资源搜索服务，方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号：481959085
Book学术官方微信