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2006 IEEE/RSJ International Conference on Intelligent Robots and Systems最新文献

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Fuzzy Adaptive Kalman Filtering based Estimation of Image Jacobian for Uncalibrated Visual Servoing 基于模糊自适应卡尔曼滤波的无标定视觉伺服图像雅可比估计
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-01 DOI: 10.1109/IROS.2006.282555
Xiadong Lv, Xinhan Huang
{"title":"Fuzzy Adaptive Kalman Filtering based Estimation of Image Jacobian for Uncalibrated Visual Servoing","authors":"Xiadong Lv, Xinhan Huang","doi":"10.1109/IROS.2006.282555","DOIUrl":"https://doi.org/10.1109/IROS.2006.282555","url":null,"abstract":"An image Jacobian estimate method for uncalibrated visual servoing is proposed in this paper. With less or no prior knowledge to robotic parameters and filtering statistics, the method employs a Kalman filter to provide an optimal estimate of the Jacobian elements and fuzzy logic controllers to adjust the Kalman noise covariance matrices Q and R adaptively. The adaptations are performed based on a matching technique of the filter residual mean value and covariance error. It greatly improves the Jacobian estimate adaptability to unknown dynamic imaging applications. A microscopic image Jacobian model has been developed for the 4 degree-of-freedom micromanipulator in our microassembly system. Its Jacobian estimate results demonstrate a good performance of the proposed method","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"14 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":"116558601","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: 30
SMART Navigation in Structured and Unstructured Environments 结构化和非结构化环境中的智能导航
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-01 DOI: 10.1109/IROS.2006.282302
Sascha Kolski, K. Macek, D. Ferguson, R. Siegwart
{"title":"SMART Navigation in Structured and Unstructured Environments","authors":"Sascha Kolski, K. Macek, D. Ferguson, R. Siegwart","doi":"10.1109/IROS.2006.282302","DOIUrl":"https://doi.org/10.1109/IROS.2006.282302","url":null,"abstract":"Recently, intelligent transportation systems have been introduced for tasks like automated parking and highway driving. This is one of many contact points between human and robot intelligence, in that a human driver is sharing the driving task with intelligent computer systems. In this video we present an automated passenger vehicle that is able to autonomously navigate through both structured and unstructured B23environments without relying on prior environmental information or known waypoints. The system uses ego motion estimation based on an inertial measurement unit and internal vehicle sensors, and combines this with a laser range finder to map its environment. It uses a combination of global planning and local planning to safely navigate through the environment to a desired goal location.","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"47 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":"122860798","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
A Fast Stereo Vision Algorithm With Improved Performance at Object Borders 一种提高物体边界性能的快速立体视觉算法
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-01 DOI: 10.1109/IROS.2006.282033
Jun Zhao, J. Katupitiya
{"title":"A Fast Stereo Vision Algorithm With Improved Performance at Object Borders","authors":"Jun Zhao, J. Katupitiya","doi":"10.1109/IROS.2006.282033","DOIUrl":"https://doi.org/10.1109/IROS.2006.282033","url":null,"abstract":"Conventional correlation based stereo vision algorithms have poor performance at object borders due to occlusion. This paper analyzes image characteristics at depth discontinuities to improve the performance. It uses a new window scheme, especially to handle occlusion. The results show dramatically improved performance at depth discontinuities","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"12 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":"114419552","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
Person-Tracking with Occlusion Using Appearance Filters 使用外观过滤器进行遮挡的人追踪
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-01 DOI: 10.1109/IROS.2006.282222
Peng Bai, Hong Qiao, Anhua Wan, Yu Liu
{"title":"Person-Tracking with Occlusion Using Appearance Filters","authors":"Peng Bai, Hong Qiao, Anhua Wan, Yu Liu","doi":"10.1109/IROS.2006.282222","DOIUrl":"https://doi.org/10.1109/IROS.2006.282222","url":null,"abstract":"To deal with the problem of tracking person with a mobile robot in dynamic scene with occlusion, a tracking system is presented in this paper. We focus on the individual person tracking system, which is applied on our two-wheel mobile robot with a single PTZ (pan-tilt-zoom) camera. The tracking system works reliably in the dynamic environment with partial/complete occlusion. For the sake of complete occlusion, we use several filters and spatial relation restriction to represent the target model. These filters are all based on the appearance of the target, and each filter models a part of human body which is more rigid than the entire body. To construct a tracking system, the situation-based strategy and a simple frame-to-frame tracker are involved in the system, and an improved mean-shift tracking algorithm is applied as the tracker in this paper. Finally, experimental results on tracking individual person with complete occlusion in different environments are shown, which demonstrate the robustness and effectiveness of the algorithm","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"15 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":"114576201","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: 10
Static Measuring Model and Deadweight Compensation of a Stewart Platform Based Force/Torque Sensor 基于Stewart平台的力/扭矩传感器静态测量模型及自重补偿
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-01 DOI: 10.1109/IROS.2006.282451
Chunping Sui, Hongguang Wang, L. Fang, Mingyang Zhao
{"title":"Static Measuring Model and Deadweight Compensation of a Stewart Platform Based Force/Torque Sensor","authors":"Chunping Sui, Hongguang Wang, L. Fang, Mingyang Zhao","doi":"10.1109/IROS.2006.282451","DOIUrl":"https://doi.org/10.1109/IROS.2006.282451","url":null,"abstract":"The static measuring model and the deadweight compensation of a Stewart platform based force/torque sensor have been studied in this paper. Firstly, some preliminary kinematics of this sensor is presented. Coordinates attached to every links are established, and the transforming relations between link frames and other frames are derived. Then, the static measuring model and the deadweight compensation of the sensor are produced. In the modeling, forces on links are composed based on an analytic method, and the resultant forces and torques obtained can be used as the measuring model. The weight need to be compensated of the whole mechanism is divided into two parts: links weights and top platform weight. The compensation of the links weights is involved in static modeling. And the top platform weight is compensated, subsequently. Finally, some experiments are carried out, and the results verify the validity of the static measuring model and the deadweight compensation","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","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":"129564854","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
Policy Gradient Methods for Robotics 机器人的策略梯度方法
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-01 DOI: 10.1109/IROS.2006.282564
Jan Peters, S. Schaal
{"title":"Policy Gradient Methods for Robotics","authors":"Jan Peters, S. Schaal","doi":"10.1109/IROS.2006.282564","DOIUrl":"https://doi.org/10.1109/IROS.2006.282564","url":null,"abstract":"The acquisition and improvement of motor skills and control policies for robotics from trial and error is of essential importance if robots should ever leave precisely pre-structured environments. However, to date only few existing reinforcement learning methods have been scaled into the domains of high-dimensional robots such as manipulator, legged or humanoid robots. Policy gradient methods remain one of the few exceptions and have found a variety of applications. Nevertheless, the application of such methods is not without peril if done in an uninformed manner. In this paper, we give an overview on learning with policy gradient methods for robotics with a strong focus on recent advances in the field. We outline previous applications to robotics and show how the most recently developed methods can significantly improve learning performance. Finally, we evaluate our most promising algorithm in the application of hitting a baseball with an anthropomorphic arm","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","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":"129598757","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: 575
A Multi-Agent Model for Reconfigurable Manufacturing System Based on Complex Adaptive System 基于复杂自适应系统的可重构制造系统多智能体模型
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-01 DOI: 10.1109/IROS.2006.281753
P. He, Qinglin Wang, JiaCheng Yu
{"title":"A Multi-Agent Model for Reconfigurable Manufacturing System Based on Complex Adaptive System","authors":"P. He, Qinglin Wang, JiaCheng Yu","doi":"10.1109/IROS.2006.281753","DOIUrl":"https://doi.org/10.1109/IROS.2006.281753","url":null,"abstract":"The paper aims to present the authors' research on the self-learning mechanism in the model of reconfigurable manufacturing system (RMS). First of all, a multi-agent model for RMS based on the complex adaptive system (CAS) is originally proposed. To make the model clear, the agent and its structure are provided. Then the paper goes to analyze the complex adaptive nature or mechanism which is self-learning in the model. Following the analysis, a detailed description of the reconfiguration algorithm in the reconfigurable workshop machining system model is given. Finally, the basic properties of the CAS in the model are discussed in the paper. The multi-agent model for RMS based on CAS reduces the data transmission amount and makes the model more simple and easier to realize","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","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":"129710503","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
Study on the Vector Control Method of IM for Variable Speed Drive Based on DSP 基于DSP的变速传动IM矢量控制方法研究
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-01 DOI: 10.1109/IROS.2006.282446
PingHua Zhang, Guijie Yang, Tiecai Li
{"title":"Study on the Vector Control Method of IM for Variable Speed Drive Based on DSP","authors":"PingHua Zhang, Guijie Yang, Tiecai Li","doi":"10.1109/IROS.2006.282446","DOIUrl":"https://doi.org/10.1109/IROS.2006.282446","url":null,"abstract":"This paper proposes a fully digital high performance variable speed drive of induction motor implementing based on a single chip DSP motor controller. Some important models and features of the classic FOC are analyzed deeply and the implementing flowchart is given. The proposed speed control algorithm programming in C++ is realized by the TMS320F2812 DSP within 25 us offering a fast current response. Experimental results show that very well static- and transient-performance can be obtained by the proposed variable-speed drive with reduced hardware and higher reliability","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"36 4 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":"129776909","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
Heterogeneous and Hierarchical Cooperative Learning via Combining Decision Trees 基于组合决策树的异构分层合作学习
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-01 DOI: 10.1109/IROS.2006.281990
M. Asadpour, M. N. Ahmadabadi, R. Siegwart
{"title":"Heterogeneous and Hierarchical Cooperative Learning via Combining Decision Trees","authors":"M. Asadpour, M. N. Ahmadabadi, R. Siegwart","doi":"10.1109/IROS.2006.281990","DOIUrl":"https://doi.org/10.1109/IROS.2006.281990","url":null,"abstract":"Decision trees, being human readable and hierarchically structured, provide a suitable mean to derive state-space abstraction and simplify the inclusion of the available knowledge for a reinforcement learning (RL) agent. In this paper, we address two approaches to combine and purify the available knowledge in the abstraction trees, stored among different RL agents in a multi-agent system, or among the decision trees learned by the same agent using different methods. Simulation results in nondeterministic football learning task provide strong evidences for enhancement in convergence rate and policy performance","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","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":"129817334","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: 10
Sensor Based Randomized Diffusion Planner for Higher Order Manipulators in Unknown Environments 未知环境下基于传感器的高阶机械臂随机扩散规划
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-01 DOI: 10.1109/IROS.2006.282102
D. Um
{"title":"Sensor Based Randomized Diffusion Planner for Higher Order Manipulators in Unknown Environments","authors":"D. Um","doi":"10.1109/IROS.2006.282102","DOIUrl":"https://doi.org/10.1109/IROS.2006.282102","url":null,"abstract":"Unknown environment motion planning with no world model is a daunting task, especially for higher order manipulators. Sensor based planning is a dominant trend for planners in unknown environments. However, unknown environment planning, while important, still falls short of practical solutions for higher order manipulators. An amelioration proposed herein is to make use of a ramification of model-based approaches with mobile sensation. In this paper, we demonstrate how randomized planning techniques developed for model-based planners can be adopted to deal with planning problems of higher order manipulators in the midst of unknown obstacles. No other study has reported useful results on unknown environment planning utilizing model-based theories. The proposed planner is rendered to handle cases where non-sequential random sampling or randomized road map generation is infeasible due to the absence of a world model. For simplicity, the classical lattice planner, or incremental grid sampling, is considered with mobile sensation for probabilistically biased searches. For mobile sensation, we introduce a novel collision detection sensor, namely infrared proximity array (IPA), that is designed to enable samplings in an unknown configuration space. The proposed planner together with the IPA demonstrated some useful results on unknown environment planning problems utilizing a model-based sampling approach. As a performance measure of the planner, resolution completeness of the proposed planner is investigated from the topological standpoint as well","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"24 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":"129826701","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
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