发布求助
文献互助 智能选刊 最新文献

2010 Latin American Robotics Symposium and Intelligent Robotics Meeting最新文献

筛选
英文 中文
Feature-Based Mapping Using Incremental Gaussian Mixture Models 基于特征的增量高斯混合模型映射
2010 Latin American Robotics Symposium and Intelligent Robotics Meeting Pub Date : 2010-10-23 DOI: 10.1109/LARS.2010.13
M. R. Heinen, P. Engel
{"title":"Feature-Based Mapping Using Incremental Gaussian Mixture Models","authors":"M. R. Heinen, P. Engel","doi":"10.1109/LARS.2010.13","DOIUrl":"https://doi.org/10.1109/LARS.2010.13","url":null,"abstract":"This paper proposes a new algorithm for feature-based environment mapping where the environment is represented using multivariate Gaussian mixture models. This algorithm, which can be used either with sonar or laser range data, is able to create and maintain environment maps in real time using few memory requirements. Moreover, it does not assume that the environment is composed by linear structures and allows computing the occupancy probabilities of any map position very fast and without introducing discretization errors. The experiments performed with the proposed model prototype show that it is able to build accurate environment representations using real data provided by a mobile robot.","PeriodicalId":268931,"journal":{"name":"2010 Latin American Robotics Symposium and Intelligent Robotics Meeting","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127741499","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
Graphical Simulations of a Mobile Robot Suspended on Transmission Lines Using Multibody Systems Software 基于多体系统软件的传输线悬浮移动机器人图形仿真
2010 Latin American Robotics Symposium and Intelligent Robotics Meeting Pub Date : 2010-10-23 DOI: 10.1109/LARS.2010.11
R. Gonçalves, J. Carvalho
{"title":"Graphical Simulations of a Mobile Robot Suspended on Transmission Lines Using Multibody Systems Software","authors":"R. Gonçalves, J. Carvalho","doi":"10.1109/LARS.2010.11","DOIUrl":"https://doi.org/10.1109/LARS.2010.11","url":null,"abstract":"This work presents a mobile robot that moves suspended on transmission lines and/or telecommunication transmission lines, which can transpose signalizing spheres and sustaining insulators, placed at any position on wire. The use of multi body systems software helped in the development of the prototype allowing to visualize the three-dimensional behavior of the robot when the surmounting signalizing spheres and insulators. In this work the mobile robot kinematic model, the methodology for obstacle transposition, graphical simulations and experimental results are presented to validate the proposed methodology.","PeriodicalId":268931,"journal":{"name":"2010 Latin American Robotics Symposium and Intelligent Robotics Meeting","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123125192","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: 5
Map Merging Strategies for Multi-robot FastSLAM: A Comparative Survey 多机器人FastSLAM的地图合并策略比较研究
2010 Latin American Robotics Symposium and Intelligent Robotics Meeting Pub Date : 2010-10-23 DOI: 10.1109/LARS.2010.20
V. Romero, O.L.V. Costa
{"title":"Map Merging Strategies for Multi-robot FastSLAM: A Comparative Survey","authors":"V. Romero, O.L.V. Costa","doi":"10.1109/LARS.2010.20","DOIUrl":"https://doi.org/10.1109/LARS.2010.20","url":null,"abstract":"A comparative survey between the two basic strategies used to combine partial landmark based maps in multi-robot systems, data association and inter-robot observations (Rendezvous), is presented. The simulated environment is a flat place populated by trees, which are going to be mapped by a two-mobile robot team equipped with laser range finders in order to measure every tree (landmark) location and width. Partial maps are estimated using the algorithm FastSLAM2.0.","PeriodicalId":268931,"journal":{"name":"2010 Latin American Robotics Symposium and Intelligent Robotics Meeting","volume":"67 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124214856","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
Introductory Survey to Open-Source Mobile Robot Simulation Software 开源移动机器人仿真软件概论调查
2010 Latin American Robotics Symposium and Intelligent Robotics Meeting Pub Date : 2010-10-23 DOI: 10.1109/LARS.2010.19
P. Castillo-Pizarro, T. Arredondo, M. Torres-Torriti
{"title":"Introductory Survey to Open-Source Mobile Robot Simulation Software","authors":"P. Castillo-Pizarro, T. Arredondo, M. Torres-Torriti","doi":"10.1109/LARS.2010.19","DOIUrl":"https://doi.org/10.1109/LARS.2010.19","url":null,"abstract":"Mobile robot simulation is a valuable tool for education, research and design purposes. The last decade has seen a considerable increase in the development of new software tools for mobile robot simulation, all of which have reached different levels of maturity. This paper presents a survey of the existing tools and discusses their strengths and drawbacks in terms of simplicity, flexibility, fields of application, among other desirable features. This discussion should be valuable to students, teachers, engineers and researchers alike who are seeking adequate tools for simulating autonomous mobile robots. Introductory examples showing the usage of three of the most mature and widely used open-source simulators (Carmen, Gazebo and Open Dynamics Engine) are also included.","PeriodicalId":268931,"journal":{"name":"2010 Latin American Robotics Symposium and Intelligent Robotics Meeting","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132217284","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: 51
Performance Analysis of Path Planning Techniques Based on Potential Fields 基于势场的路径规划技术性能分析
2010 Latin American Robotics Symposium and Intelligent Robotics Meeting Pub Date : 2010-10-23 DOI: 10.1109/LARS.2010.33
M. O. Silva, W. C. Silva, R. Romero
{"title":"Performance Analysis of Path Planning Techniques Based on Potential Fields","authors":"M. O. Silva, W. C. Silva, R. Romero","doi":"10.1109/LARS.2010.33","DOIUrl":"https://doi.org/10.1109/LARS.2010.33","url":null,"abstract":"Path planning is a research sub area of robotic which aims to solve the problem of conducting a robot from a specific position to a goal position in a given environment. The environment can be static or dynamic. This problem is considered complex when more than one robot is considered in a dynamic environment and it is necessary to control multiple robots in the same time. In this work, it is investigated some path planning techniques that can be applied to control multiple robots in soccer robot environment. This environment is very interesting due to fact as the robots as the goal (the ball) are dynamic objects in the environment. A comparative analysis of the algorithms, Oriented Potential Fields and Locally Oriented Potential Fields, that are used as path planners, are presented in relation to as number of iterations as convergence time. Further, taking in account that these algorithms require a numerical relaxation step per iteration, it is also shown how these algorithms can become faster, just by changing the initial conditions of the linear system solver.","PeriodicalId":268931,"journal":{"name":"2010 Latin American Robotics Symposium and Intelligent Robotics Meeting","volume":"155 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123311351","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
Smooth Trajectory Tracking Interpolation on a Robot Simulator 机器人模拟器上的平滑轨迹跟踪插值
2010 Latin American Robotics Symposium and Intelligent Robotics Meeting Pub Date : 2010-10-23 DOI: 10.1109/LARS.2010.31
R. Pacheco, M. Hounsell, Roberto S.U. Rosso Jr., A. B. Leal
{"title":"Smooth Trajectory Tracking Interpolation on a Robot Simulator","authors":"R. Pacheco, M. Hounsell, Roberto S.U. Rosso Jr., A. B. Leal","doi":"10.1109/LARS.2010.31","DOIUrl":"https://doi.org/10.1109/LARS.2010.31","url":null,"abstract":"When there is the need of a robotic manipulator to follow a certain smooth and continuous trajectory, it involves the specification of the curve to be followed and the way the gripper should behave alongside it. This work aims to identify and analyze a technique to be used in a 3D virtual robotic simulator that executes smooth and continuous movements. It also aims to develop a method for trajectory programming using a solution that covers the main problems of trajectory tracking (smoothness of path and gripper approach). An efficient and flexible method to embed trajectory tracking was indentified and implemented which allows its integration with existing standard (linear or circular) movements.","PeriodicalId":268931,"journal":{"name":"2010 Latin American Robotics Symposium and Intelligent Robotics Meeting","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125946511","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: 5
Vision-Based Autonomous Navigation System Using ANN and FSM Control 基于神经网络和FSM控制的视觉自主导航系统
2010 Latin American Robotics Symposium and Intelligent Robotics Meeting Pub Date : 2010-10-23 DOI: 10.1109/LARS.2010.26
D. Sales, P. Shinzato, G. Pessin, D. Wolf, F. Osório
{"title":"Vision-Based Autonomous Navigation System Using ANN and FSM Control","authors":"D. Sales, P. Shinzato, G. Pessin, D. Wolf, F. Osório","doi":"10.1109/LARS.2010.26","DOIUrl":"https://doi.org/10.1109/LARS.2010.26","url":null,"abstract":"Autonomous mobile robot navigation is a very relevant problem in robotics research. This paper proposes a vision-based autonomous navigation system using artificial neural networks (ANN) and finite state machines (FSM). In the first step, ANNs are used to process the image frames taken from the robot´s camera, classifying the space, resulting in navigable or non-navigable areas (image road segmentation). Then, the ANN output is processed and used by a FSM, which identifies the robot´s current state, and define which action the robot should take according to the processed image frame. Different experiments were performed in order to validate and evaluate this approach, using a small mobile robot with integrated camera, in a structured indoor environment. The integration of ANN vision-based algorithms and robot´s action control based on a FSM, as proposed in this paper, demonstrated to be a promising approach to autonomous mobile robot navigation.","PeriodicalId":268931,"journal":{"name":"2010 Latin American Robotics Symposium and Intelligent Robotics Meeting","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133993100","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
首页 上一页
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