2013 IEEE International Conference on Robotics and Automation最新文献_第6页

A swarm aggregation algorithm based on local interaction with actuator saturations and integrated obstacle avoidance 基于执行器饱和局部交互和综合避障的群聚集算法

2013 IEEE International Conference on Robotics and Automation Pub Date : 2013-05-06 DOI: 10.1109/ICRA.2013.6630823

Antonio Leccese, A. Gasparri, A. Priolo, G. Oriolo, G. Ulivi

引用次数: 22

Sparse Tangential Network (SPARTAN): Motion planning for micro aerial vehicles 稀疏切向网络(SPARTAN):微型飞行器运动规划

2013 IEEE International Conference on Robotics and Automation Pub Date : 2013-05-06 DOI: 10.1109/ICRA.2013.6630967

Hugh Cover, Sanjiban Choudhury, S. Scherer, Sanjiv Singh

引用次数: 57

K-robots clustering of moving sensors using coresets 基于核心集的k -机器人运动传感器聚类

2013 IEEE International Conference on Robotics and Automation Pub Date : 2013-05-06 DOI: 10.1109/ICRA.2013.6630677

Dan Feldman, Stephanie Gil, Ross A. Knepper, Brian J. Julian, D. Rus

{"title":"K-robots clustering of moving sensors using coresets","authors":"Dan Feldman, Stephanie Gil, Ross A. Knepper, Brian J. Julian, D. Rus","doi":"10.1109/ICRA.2013.6630677","DOIUrl":"https://doi.org/10.1109/ICRA.2013.6630677","url":null,"abstract":"We present an approach to position k servers (e.g. mobile robots) to provide a service to n independently moving clients; for example, in mobile ad-hoc networking applications where inter-agent distances need to be minimized, connectivity constraints exist between servers, and no a priori knowledge of the clients' motion can be assumed. Our primary contribution is an algorithm to compute and maintain a small representative set, called a kinematic coreset, of the n moving clients.We prove that, in any given moment, the maximum distance between the clients and any set of k servers is approximated by the coreset up to a factor of (1 ± ε), where ε > 0 is an arbitrarily small constant. We prove that both the size of our coreset and its update time is polynomial in k log(n)/ε. Although our optimization problem is NP-hard (i.e., takes time exponential in the number of servers to solve), solving it on the small coreset instead of the original clients results in a tractable controller. The approach is validated in a small scale hardware experiment using robot servers and human clients, and in a large scale numerical simulation using thousands of clients.","PeriodicalId":259746,"journal":{"name":"2013 IEEE International Conference on Robotics and Automation","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124123148","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: 6

Cr-N alloy thin-film based torque sensors and joint torque servo systems for compliant robot control 用于柔性机器人控制的Cr-N合金薄膜扭矩传感器和关节扭矩伺服系统

2013 IEEE International Conference on Robotics and Automation Pub Date : 2013-05-06 DOI: 10.1109/ICRA.2013.6631285

Y. Kuroki, Y. Kosaka, Taro Takahashi, E. Niwa, H. Kaminaga, Yoshihiko Nakamura

引用次数: 44

Design parameters of flexible grippers for grasping 柔性抓握器的设计参数

2013 IEEE International Conference on Robotics and Automation Pub Date : 2013-05-06 DOI: 10.1109/ICRA.2013.6630853

A. Vázquez, I. Payo, Raúl Fernández, J. Becedas, Javier J. Jimenez

引用次数: 4

On the effect of structural elasticity on the stability and performance of parallel manipulators 结构弹性对并联机械臂稳定性和性能的影响

2013 IEEE International Conference on Robotics and Automation Pub Date : 2013-05-06 DOI: 10.1109/ICRA.2013.6630829

M. Wahle, B. Corves

引用次数: 0

A multi-AUV system for cooperative tracking and following of leopard sharks 用于豹鲨协同跟踪和跟踪的多auv系统

2013 IEEE International Conference on Robotics and Automation Pub Date : 2013-05-06 DOI: 10.1109/ICRA.2013.6631163

Dylan Shinzaki, Chris Gage, Sarah Tang, M. Moline, Barrett W. Wolfe, C. Lowe, C. Clark

{"title":"A multi-AUV system for cooperative tracking and following of leopard sharks","authors":"Dylan Shinzaki, Chris Gage, Sarah Tang, M. Moline, Barrett W. Wolfe, C. Lowe, C. Clark","doi":"10.1109/ICRA.2013.6631163","DOIUrl":"https://doi.org/10.1109/ICRA.2013.6631163","url":null,"abstract":"This paper presents a system of multiple coordinating autonomous underwater vehicles (AUV) that can localize and track a shark tagged with an acoustic transmitter. Each AUV is equipped with a stereo-hydrophone system that provides measurements of the relative bearing to the transmitter, as well as an acoustic modem that allows for inter-AUV communication and hence cooperative shark state estimation and decentralized tracking control. Online state estimation of the shark's state is performed using a Particle Filter in which measurements are shared between AUVs. The decentralized control system enables the AUVs to circumnavigate a dynamic target, (i.e. the estimated shark location). Each AUV circles the target by tracking circles of different radii and at different phase angles with respect to the target so as to obtain simultaneous sensor vantage points and minimize chance of AUV collision. A series of experiments using two AUVs were conducted in Big Fisherman's Cove in Santa Catalina Island, CA and demonstrated the ability to track a tagged leopard shark (Triakis semifasciata). The performance of the tracking was compared to standard manual tracking performed using an directional hydrophone operated by a researcher in a boat. In an additional experiment, the AUVs tracked an acoustic tag attached to the tracking boat to quantify the error of the state estimation of the system.","PeriodicalId":259746,"journal":{"name":"2013 IEEE International Conference on Robotics and Automation","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125843727","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: 14

Rapyuta: The RoboEarth Cloud Engine Rapyuta:机器人地球云引擎

2013 IEEE International Conference on Robotics and Automation Pub Date : 2013-05-06 DOI: 10.1109/ICRA.2013.6630612

D. Hunziker, Mohanarajah Gajamohan, M. Waibel, R. D’Andrea

引用次数: 182

Coordination of multiple fixed-wing UAVs traversing intersecting periodic paths 多架固定翼无人机穿越相交周期路径的协调

2013 IEEE International Conference on Robotics and Automation Pub Date : 2013-05-06 DOI: 10.1109/ICRA.2013.6630672

V. M. Gonçalves, L. Pimenta, C. Maia, G. Pereira

引用次数: 10

CELLO: A fast algorithm for Covariance Estimation 一种快速的协方差估计算法

2013 IEEE International Conference on Robotics and Automation Pub Date : 2013-05-06 DOI: 10.1109/ICRA.2013.6631017

William Vega-Brown, A. Bachrach, A. Bry, Jonathan Kelly, N. Roy

引用次数: 29