2010 IEEE International Conference on Robotics and Automation最新文献_第8页

Searching for objects: Combining multiple cues to object locations using a maximum entropy model 搜索对象:使用最大熵模型将多个线索组合到对象位置

2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509285

D. Joho, Wolfram Burgard

引用次数: 19

MAV navigation through indoor corridors using optical flow 利用光流在室内走廊进行MAV导航

2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509777

S. Zingg, D. Scaramuzza, S. Weiss, R. Siegwart

引用次数: 243

Visual servoing from three points using a spherical projection model 视觉伺服从三点使用球面投影模型

2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509613

R. T. Fomena, Omar Tahri, F. Chaumette

引用次数: 4

A hybrid framework for ego noise cancellation of a robot 一种用于机器人自我噪声消除的混合框架

2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509564

G. Ince, K. Nakadai, Tobias Rodemann, Yuji Hasegawa, H. Tsujino, J. Imura

{"title":"A hybrid framework for ego noise cancellation of a robot","authors":"G. Ince, K. Nakadai, Tobias Rodemann, Yuji Hasegawa, H. Tsujino, J. Imura","doi":"10.1109/ROBOT.2010.5509564","DOIUrl":"https://doi.org/10.1109/ROBOT.2010.5509564","url":null,"abstract":"Noise generated due to the motion of a robot is not desired, because it deteriorates the quality and intelligibility of the sounds recorded by robot-embedded microphones. It must be reduced or cancelled to achieve automatic speech recognition with a high performance. In this work, we divide ego-motion noise problem into three subdomains of arm, leg and head motion noise, depending on their complexity and intensity levels. We investigate methods that make use of single-channel and multi-channel processing in order to suppress ego noise separately. For this purpose, a framework consisting of a microphone-array-based geometric source separation, a consequent post filtering process and a parallel module for template subtraction is used. Furthermore, a control mechanism is proposed, which is based on signal-to-noise ratio and instantaneously detected motions, to switch to the most suitable method to deal with the current type of noise. We evaluate the proposed techniques on a humanoid robot using automatic speech recognition (ASR). The preliminary results of isolated word recognition show the effectiveness of our methods by increasing the word correct rates up to 50% compared to the single channel recognition in arm and leg motion noises and up to 25% in very strong head motion noises.","PeriodicalId":289706,"journal":{"name":"2010 IEEE International Conference on Robotics and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-05-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131144531","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

An insect-based method for learning landmark reliability using expectation reinforcement in dynamic environments 动态环境下基于昆虫的地标可靠性期望强化学习方法

2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509935

Z. Mathews, P. Verschure, S. Badia

{"title":"An insect-based method for learning landmark reliability using expectation reinforcement in dynamic environments","authors":"Z. Mathews, P. Verschure, S. Badia","doi":"10.1109/ROBOT.2010.5509935","DOIUrl":"https://doi.org/10.1109/ROBOT.2010.5509935","url":null,"abstract":"Navigation in unknown dynamic environments still remains a major challenge in robotics. Whereas insects like the desert ant with very limited computing and memory capacities solve this task with great efficiency. Thus, the understanding of the underlying neural mechanisms of insect navigation can inform us on how to build simpler yet robust autonomous robots. Based on recent developments in insect neuroethology and cognitive psychology, we propose a method for landmark navigation in dynamic environments. Our method enables the navigator to learn the reliability of landmarks using an expectation reinforcement method. For that end, we implemented a real-time neuronal model based on the Distributed Adaptive Control framework. The results demonstrate that our model is capable of learning the stability of landmarks by reinforcing its expectations. Also, the proposed mechanism allows the navigator to optimally restore its confidence when its expectations are violated. We also perform navigational experiments with real ants to compare with the results of our model. The behavior of the proposed autonomous navigator closely resembles real ant navigational behavior. Moreover, our model explains navigation in dynamic environments as a memory consolidation process, harnessing expectations and their violations.","PeriodicalId":289706,"journal":{"name":"2010 IEEE International Conference on Robotics and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-05-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131183113","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: 11

HRP-2 plays the yoyo: From human to humanoid yoyo playing using optimal control HRP-2玩溜溜球:利用最优控制从人到人形溜溜球的游戏

2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509780

K. Mombaur, M. Sreenivasa

引用次数: 18

Bifurcations of optimal solutions for coordinated robotic systems: Numerical and homotopy methods 协调机器人系统最优解的分岔:数值与同伦方法

2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509735

B. Deng, Andres K. Valenzuela, B. Goodwine

{"title":"Bifurcations of optimal solutions for coordinated robotic systems: Numerical and homotopy methods","authors":"B. Deng, Andres K. Valenzuela, B. Goodwine","doi":"10.1109/ROBOT.2010.5509735","DOIUrl":"https://doi.org/10.1109/ROBOT.2010.5509735","url":null,"abstract":"This paper presents the relatively rich and interesting bifurcation structure that is present in the nature of optimal solutions to a multi-robot formation control problem. The problem considered is a two point nonlinear boundary-value problem that can only be solved numerically. Since common numerical solution techniques such as the shooting method are local in nature and hence are difficult to use to find multiple solutions, an alternative formulation of the problem is presented that can be solved through homotopy methods for polynomial systems. These methods are guaranteed to find all solutions within the resolution of the system description's discretization. Specifically, this paper studies a group of unicycle-like autonomous mobile robots operating in a 2-dimensional obstacle-free environment. Each robot has a predefined initial state and final state and the problem is to find the optimal path between two states for every robot. The path is optimized with respect to the control effort and the deviation from a desired formation. The bifurcation parameter is the relative weight given to penalizing the deviation from the desired formation versus control effort. It is shown that as this number varies, bifurcations of solutions are obtained. Considering the common use of optimization methods in robotic navigation and coordination problems, understanding the existence and structure of bifurcating and multiple solutions is of great importance in robotics.","PeriodicalId":289706,"journal":{"name":"2010 IEEE International Conference on Robotics and Automation","volume":"69 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-05-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130689281","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

A discrete-time filter for the on-line generation of trajectories with bounded velocity, acceleration, and jerk 一个离散时间滤波器，用于在线生成有界速度、加速度和加速度的轨迹

2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509712

O. Gerelli, C. Bianco

引用次数: 28

Golem Krang: Dynamically stable humanoid robot for mobile manipulation 魔像克朗:动态稳定的人形机器人，用于移动操作

2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509593

Mike Stilman, Jon Olson, William Gloss

引用次数: 101

Establishing the NP-hardness of maximally permissive RAS-based approaches to multi-vehicle system safety 建立基于最大允许ras的多车系统安全方法的np -硬度

2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509746

E. Roszkowska, S. Reveliotis

引用次数: 1