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Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)最新文献

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LEMMING: A learning system for multi-robot environments LEMMING:多机器人环境下的学习系统
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583337
Takuya Ohko, K. Hiraki, Y. Anzai
{"title":"LEMMING: A learning system for multi-robot environments","authors":"Takuya Ohko, K. Hiraki, Y. Anzai","doi":"10.1109/IROS.1993.583337","DOIUrl":"https://doi.org/10.1109/IROS.1993.583337","url":null,"abstract":"Describes LEMMING, a learning system for multiple mobile robot environments. LEMMING extends the idea of the broadcast-based contract net protocol with CBR (case-based reasoning). In terms of the CBR mechanism, LEMMING can learn to select appropriate robots for a given task. Thus, LEMMING makes it possible to reduce the waste of communication resources and the trouble of processing irrelevant messages. The paper evaluates LEMMING with some experiments and shows that LEMMING can deal with task negotiation more effectively than a broadcast-based contract net system.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128800579","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: 16
Development of a model-based remote maintenance robot system. III. Task planner 基于模型的远程维修机器人系统的开发。3任务计划
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583739
T. Yoshimi, Yukio Asari, Hirokazu Sato, K. Tatsuno, Kuniji Asano
{"title":"Development of a model-based remote maintenance robot system. III. Task planner","authors":"T. Yoshimi, Yukio Asari, Hirokazu Sato, K. Tatsuno, Kuniji Asano","doi":"10.1109/IROS.1993.583739","DOIUrl":"https://doi.org/10.1109/IROS.1993.583739","url":null,"abstract":"For part II, see ibid., pp. 1231-1236. Introduces a task planner for the model-based remote maintenance robot system called TAROS (Toshiba Advanced Robot System). TAROS's task planner has a task knowledge database describing procedures for performing the desired tasks and an environmental knowledge database describing geometrical characteristics and arrangement data for the objects to be handled. These data are represented by frames. When the operator inputs a task command, the task planner generates robot control programs automatically by referring to the databases. In the task planning, even though object's position or orientation data in the environmental knowledge database include errors, suitable motions are selected from the task knowledge database according to the number of errors, and executed. Thus a desired task can be performed easily without making a detailed robot control program in which the object's position and orientation errors are taken into consideration. It was verified that the fastening and loosening operations for a nut and a flange bolt were performed autonomously by using the task planner of TAROS.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125458054","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
Dynamic grouping in multiple mobile robots system 多移动机器人系统的动态分组
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583902
J. Ota, T. Arai, D. Kurabayashi
{"title":"Dynamic grouping in multiple mobile robots system","authors":"J. Ota, T. Arai, D. Kurabayashi","doi":"10.1109/IROS.1993.583902","DOIUrl":"https://doi.org/10.1109/IROS.1993.583902","url":null,"abstract":"A motion planning method for robot groups is presented. First, groups are classified into a group on common partnership (P-group) and a group in shape (cluster) based on types of common factors among members of the same group. The concept of cohesion is proposed to express changeability of clusters. Next, a motion planning method with dynamic grouping, which changes number of cluster in the group based on cohesion, is presented. The approach is implemented using the virtual impedance method. The effectiveness of the method is verified by simulation results.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125530815","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: 13
Hierarchical control of a visual monitoring system for telerobot tasks 遥控机器人任务视觉监控系统的层次控制
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583118
Yujin Wakita, S. Hirai
{"title":"Hierarchical control of a visual monitoring system for telerobot tasks","authors":"Yujin Wakita, S. Hirai","doi":"10.1109/IROS.1993.583118","DOIUrl":"https://doi.org/10.1109/IROS.1993.583118","url":null,"abstract":"Using visual information such as TV monitors is the most important function in telerobotic task execution. The authors have proposed an intelligent control system for a monitoring camera to achieve telerobotic task execution. In this paper they extend the previously proposed system to the problem of monitoring multiple and concurrent tasks. The authors propose a higher level monitoring framework which takes into account the supervisor's view rather than working robot itself. Several results from an experiment are presented.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122211183","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
Controlling collective tasks with an ALN 用ALN控制集合任务
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583112
C. Kube, Hong Zhang, Xiaohuan Wang
{"title":"Controlling collective tasks with an ALN","authors":"C. Kube, Hong Zhang, Xiaohuan Wang","doi":"10.1109/IROS.1993.583112","DOIUrl":"https://doi.org/10.1109/IROS.1993.583112","url":null,"abstract":"In this paper, the authors explore the idea of using an adaptive logic network (ALN) for behavior arbitration. Their approach is to define the collective task, to be performed by multiple robots, as a group behavior. The group behavior is a set of behaviors, each of which specifies a single step in the collective task. An environmental cue can be used to control the transition between behaviors, thus allowing the progress of the collective task to self-govern its execution. The authors simplify the behavior arbitration in the collective task by training an ALN implemented using simple combinational logic. They provide a description of the Collective Robotic Intelligence Project (CRIP) including the simulation results and the multi-robot system on which these results will be deployed.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116210856","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: 36
A man machine interface for a mobile robot 移动机器人的人机界面
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583119
O. Causse, J. Crowley
{"title":"A man machine interface for a mobile robot","authors":"O. Causse, J. Crowley","doi":"10.1109/IROS.1993.583119","DOIUrl":"https://doi.org/10.1109/IROS.1993.583119","url":null,"abstract":"A man machine interface (MMI) designed for human interaction with an autonomous mobile robot is presented. The authors define a high level language for mission specification. This language allows an operator to describe surveillance missions. The model chosen provided an efficient interaction and allowed to implement fundamentals properties for a good man/machine interaction. Several examples were detailed to prove the significance of a simultaneous design phase of the MMI and the functional core of the application, in this case the supervisor.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115290464","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
A new system architecture for applying symbolic learning techniques to robot manipulation tasks 将符号学习技术应用于机器人操作任务的新系统架构
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583813
J. Kreuziger, M. Hauser
{"title":"A new system architecture for applying symbolic learning techniques to robot manipulation tasks","authors":"J. Kreuziger, M. Hauser","doi":"10.1109/IROS.1993.583813","DOIUrl":"https://doi.org/10.1109/IROS.1993.583813","url":null,"abstract":"Presents a new system architecture that enables a robot control system to learn at a symbolic level during planning and executing tasks. A user can program the robot by simply demonstrating the tasks it should perform. By performing inductive generalization and specialization steps, the system is able to improve its knowledge base. The architecture consists of a set of distributed knowledge units which realize a focus of attention that is necessary for efficient execution and learning, and which also makes competition between different problem solutions possible.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"227 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115823000","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: 13
Estimating the friction parameters of pushed objects 估算被推物体的摩擦参数
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583097
K. Lynch
{"title":"Estimating the friction parameters of pushed objects","authors":"K. Lynch","doi":"10.1109/IROS.1993.583097","DOIUrl":"https://doi.org/10.1109/IROS.1993.583097","url":null,"abstract":"In order to plan manipulation of an object by pushing, a robot must have a model of the geometry and the friction properties of the object. This paper presents an approach to estimating the relevant friction parameters by performing experimental pushes and observing the resultant motion. Recognition of objects based on their friction parameters is also explored.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116669608","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: 69
Aggregating interdependent sensory data in multisensor systems 在多传感器系统中聚合相互依赖的传感数据
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583125
O. Basir, H. C. Shen
{"title":"Aggregating interdependent sensory data in multisensor systems","authors":"O. Basir, H. C. Shen","doi":"10.1109/IROS.1993.583125","DOIUrl":"https://doi.org/10.1109/IROS.1993.583125","url":null,"abstract":"The authors investigate the issue of information interdependence in multisensor systems. A consensus group approach which accounts for interdependence between group sensors is presented. The approach is based on an information theory formulation. An algorithm for computing a weighting scheme for the group sensors is developed. The algorithm rewards each sensor for the quality of its measurements and penalizes it for its interdependence with other sensors in the group.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125185308","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
Trajectory control of trailer type mobile robots 拖车式移动机器人的轨迹控制
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583941
Michiyo Nakamura, S. Yuta
{"title":"Trajectory control of trailer type mobile robots","authors":"Michiyo Nakamura, S. Yuta","doi":"10.1109/IROS.1993.583941","DOIUrl":"https://doi.org/10.1109/IROS.1993.583941","url":null,"abstract":"A control algorithm for a trailer-type mobile robot is proposed. With this algorithm, a trailer can move along a straight line and a circular arc curve both in forward and backward directions. A trailer command system which specifies the path of trailer type robot as straight lines or circular arcs has also been designed and implemented on a real experimental trailer type mobile robot. The effectiveness of the proposed control method is verified by numerical simulations and experiments using the authors' self-contained autonomous mobile robot, the Yamabico.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125216920","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: 21
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