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2007 International Symposium on Computational Intelligence in Robotics and Automation最新文献

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Fast Localization Algorithm for The Cleaning Robot By Using Self-Organization Map 基于自组织映射的清洁机器人快速定位算法
2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382884
Sanghoon Baek, S. Ahn, Se-Young Oh
{"title":"Fast Localization Algorithm for The Cleaning Robot By Using Self-Organization Map","authors":"Sanghoon Baek, S. Ahn, Se-Young Oh","doi":"10.1109/CIRA.2007.382884","DOIUrl":"https://doi.org/10.1109/CIRA.2007.382884","url":null,"abstract":"Recently, localization for mobile robot has been studied a lot. Up to now, most localization systems which are reliable and efficient are equipped with expensive sensors such as laser scanner and high performance CPU with fast computing. But, small and cost effective robot such as service robot for home cleaning cannot be equipped with costly sensor and CPU. This paper proposes localization method which can be implemented with low cost sensors and CPU while tracking robot's pose quickly and correctly using Self-Organizing Map.","PeriodicalId":301626,"journal":{"name":"2007 International Symposium on Computational Intelligence in Robotics and Automation","volume":"128 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132662374","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
Intelligent Variable Joint Impedance Control and Development of a New Whole-Sensitive Anthropomorphic Robot Arm 智能可变关节阻抗控制及新型全灵敏拟人机械臂的研制
2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382885
D. Tsetserukou, R. Tadakuma, H. Kajimoto, N. Kawakami, S. Tachi
{"title":"Intelligent Variable Joint Impedance Control and Development of a New Whole-Sensitive Anthropomorphic Robot Arm","authors":"D. Tsetserukou, R. Tadakuma, H. Kajimoto, N. Kawakami, S. Tachi","doi":"10.1109/CIRA.2007.382885","DOIUrl":"https://doi.org/10.1109/CIRA.2007.382885","url":null,"abstract":"The paper focuses on design and control of a new anthropomorphic robot arm enabling the torque measurement in each joint to ensure safety while performing tasks of physical interaction with human and environment. When the contact of the arm with an object occurs, local impedance algorithm provides active compliance of corresponding robot arm joint. Thus, the whole structure of the manipulator can safely interact with unstructured environment. A novel variable control strategy was elaborated to increase the robot functionality and to achieve human-like dynamics of interaction. In the paper, we detail the design procedure of 4-DOF robot arm and optical torque sensors. The experimental results of variable joint impedance control show that proposed approach not only provides safe interaction of entire structure of robot arm with a person, but also improves the effectiveness of contact task performance, enables thus to contact with environment in a delicate manner.","PeriodicalId":301626,"journal":{"name":"2007 International Symposium on Computational Intelligence in Robotics and Automation","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131339266","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: 20
Robot Workload Distribution in Active Sensor Networks 主动传感器网络中的机器人工作负载分配
2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382853
W. Sheng, G. Tewolde
{"title":"Robot Workload Distribution in Active Sensor Networks","authors":"W. Sheng, G. Tewolde","doi":"10.1109/CIRA.2007.382853","DOIUrl":"https://doi.org/10.1109/CIRA.2007.382853","url":null,"abstract":"This paper discusses the workload distribution problem in an Active Sensor Network, which integrates multiple sensor network-friendly mobile robots into a traditional sensor network and introduces adaptivity, self-healing, responsiveness and longer lifetime to the network. In order to distribute the workload among the service robots, first, a Service Set Partition (SSP) algorithm is developed to disperse the robots so that each robot can attend one subset of the sensors. Second, to service multiple sensors simultaneously, a Contract Network Protocol (CNP) is adopted to assign tasks to multiple service robots. Through CNP, certain performances such as energy efficiency and service time can be optimized. The proposed algorithms are verified through simulations.","PeriodicalId":301626,"journal":{"name":"2007 International Symposium on Computational Intelligence in Robotics and Automation","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132403401","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
Application of RRT-based local Path Planning Algorithm in Unknown Environment 基于rrt的局部路径规划算法在未知环境中的应用
2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382896
Yu Tian, Lei Yan, Gun-Young Park, S. Yang, Young-Suk Kim, Sang-Ryong Lee, Choon-Young Lee
{"title":"Application of RRT-based local Path Planning Algorithm in Unknown Environment","authors":"Yu Tian, Lei Yan, Gun-Young Park, S. Yang, Young-Suk Kim, Sang-Ryong Lee, Choon-Young Lee","doi":"10.1109/CIRA.2007.382896","DOIUrl":"https://doi.org/10.1109/CIRA.2007.382896","url":null,"abstract":"Path planning for mobile robots has received a great deal of attention over the past two decades. The basic rapidly-exploring random tree (RRT) algorithm is famous in this field because it excels at exploring free space in the large environments and it is parallelizable. In this paper, we applied modified RRT algorithm to local navigation of a mobile robot in unknown environment. The biased direction from RRT algorithm is used to reduce the nodes and therefore the amount of calculation is decreased for real-time computation. We conducted the simulation and simple real-time experiments to verify the proposed method in real unknown environment.","PeriodicalId":301626,"journal":{"name":"2007 International Symposium on Computational Intelligence in Robotics and Automation","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115502010","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
Communication-Efficient Dynamic Task Scheduling for Heterogeneous Multi-Robot Systems 异构多机器人系统的通信高效动态任务调度
2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382855
K. Shah, Y. Meng
{"title":"Communication-Efficient Dynamic Task Scheduling for Heterogeneous Multi-Robot Systems","authors":"K. Shah, Y. Meng","doi":"10.1109/CIRA.2007.382855","DOIUrl":"https://doi.org/10.1109/CIRA.2007.382855","url":null,"abstract":"In this paper, a communication-efficient dynamic task scheduling algorithm for a heterogeneous multi-robot system is proposed. To make this task scheduling algorithm to be scalable for various robot teams, a distributed communication with shared global unit mechanism is applied to reduce the storage cost as well as communication overhead. Each robot makes its own decision through communicating with others as well as checking a global unit. This algorithm improves its efficiency by broadcasting specific information only to those who are capable and have interest in the current tasks. To improve the system robustness, an auction-based fitness function is applied to dynamically allocate the tasks among the robots if the pre-assigned robot can not handle the task or a robot fails under dynamic environment. The proposed approach is robust against communication failures and robot failures. Simulation results demonstrate the efficiency and robustness of the proposed approach.","PeriodicalId":301626,"journal":{"name":"2007 International Symposium on Computational Intelligence in Robotics and Automation","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120896839","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: 23
Image Clustering Using Visual and Text Keywords 基于视觉和文本关键词的图像聚类
2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382923
R. Agrawal, Changhua Wu, W. Grosky, F. Fotouhi
{"title":"Image Clustering Using Visual and Text Keywords","authors":"R. Agrawal, Changhua Wu, W. Grosky, F. Fotouhi","doi":"10.1109/CIRA.2007.382923","DOIUrl":"https://doi.org/10.1109/CIRA.2007.382923","url":null,"abstract":"In classical image classification approaches, low-level features have been used. But the high dimensionality of feature spaces poses a challenge in terms of feature selection and distance measurement during the clustering process. In this paper, we propose an approach to generate visual keyword and combine both visual and text keywords of the image to form a multimodal vector for image classification. This multimodality helps in extracting the image to image, text to text and text to image relations. A visual keyword is derived using vector quantization of image tiles. We arrange the visual keywords in a manner analogous to the term-document matrix in information retrieval. The visual keywords when combined with text keywords result in improvement in the quality of classification. We use a recently proposed nonlinear dimensionality reduction technique, diffusion maps, to reduce the dimensionality of the image representation. Our method is evaluated on two public datasets: LabelMe and Corel. The results support the conclusion that the proposed method of combining visual and text keywords is robust and produces good quality clusters.","PeriodicalId":301626,"journal":{"name":"2007 International Symposium on Computational Intelligence in Robotics and Automation","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123775872","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
Bio-inspired Model of Robot Spatial Cognition: Topological Place Recognition and Target Learning 仿生机器人空间认知模型:拓扑位置识别与目标学习
2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382839
A. Barrera, A. Weitzenfeld
{"title":"Bio-inspired Model of Robot Spatial Cognition: Topological Place Recognition and Target Learning","authors":"A. Barrera, A. Weitzenfeld","doi":"10.1109/CIRA.2007.382839","DOIUrl":"https://doi.org/10.1109/CIRA.2007.382839","url":null,"abstract":"In this paper we present a model designed on the basis of the rat's brain neurophysiology to provide a robot with spatial cognition and goal-oriented navigation capabilities. We describe place representation and recognition processes in rats as the basis for topological map building and exploitation by robots. We experiment with the model by training a robot to find the goal in a maze starting from a fixed location, and by testing it to reach the same target from new different starting locations.","PeriodicalId":301626,"journal":{"name":"2007 International Symposium on Computational Intelligence in Robotics and Automation","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124852039","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: 9
Validation of a Parametric Identification Technique through a Derivative CESTAC Method 通过导数CESTAC方法验证参数识别技术
2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382898
N. Marcassus, P. Vandanjon, A. Janot, M. Gautier
{"title":"Validation of a Parametric Identification Technique through a Derivative CESTAC Method","authors":"N. Marcassus, P. Vandanjon, A. Janot, M. Gautier","doi":"10.1109/CIRA.2007.382898","DOIUrl":"https://doi.org/10.1109/CIRA.2007.382898","url":null,"abstract":"Parametric identification consists in estimating the values of physical parameters of robotic systems. The most popular methods consist in using the least squares regression because of their simplicity. However, we know that these techniques are not intrinsically robust. An alternative consists in justifying the use of the LS technique. This paper focuses on this issue and introduces a derivation of the CESTAC method which will be applied to a 6 degrees of freedom (DOF) serial robot.","PeriodicalId":301626,"journal":{"name":"2007 International Symposium on Computational Intelligence in Robotics and Automation","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124876927","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: 0
Performance Evaluation Criteria for Autonomous Cleaning Robots 自主清洁机器人性能评价标准
2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382916
S. Rhim, Jae-Chang Ryu, Kwang-Ho Park, Soon‐Geul Lee
{"title":"Performance Evaluation Criteria for Autonomous Cleaning Robots","authors":"S. Rhim, Jae-Chang Ryu, Kwang-Ho Park, Soon‐Geul Lee","doi":"10.1109/CIRA.2007.382916","DOIUrl":"https://doi.org/10.1109/CIRA.2007.382916","url":null,"abstract":"This paper is a report on the initial trial for its kind in the development of the performance index of the autonomous mobile cleaning robot. The unique characteristic features of the cleaning robot have been identified as autonomous mobility, dust collection, and operation noise. Along with the identification of the performance indices the standardized performance-evaluation methods including the corresponding performance evaluation platform for each indices have been developed as well. The validity of the proposed performance evaluation methods has been demonstrated by applying the proposed evaluation methods on two commercial cleaning robots available in market. The proposed performance evaluation methods can be applied to general-purpose autonomous service robots which will be introduced in the consumer market in near future.","PeriodicalId":301626,"journal":{"name":"2007 International Symposium on Computational Intelligence in Robotics and Automation","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128484263","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: 40
Robust Mobile Robot Visual Tracking Control System Using Self-Tuning Kalman Filter 基于自整定卡尔曼滤波的鲁棒移动机器人视觉跟踪控制系统
2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382860
Chi-Yi Tsai, K. Song, X. Dutoit, H. Brussel, M. Nuttin
{"title":"Robust Mobile Robot Visual Tracking Control System Using Self-Tuning Kalman Filter","authors":"Chi-Yi Tsai, K. Song, X. Dutoit, H. Brussel, M. Nuttin","doi":"10.1109/CIRA.2007.382860","DOIUrl":"https://doi.org/10.1109/CIRA.2007.382860","url":null,"abstract":"This paper presents a novel design of a robust visual tracking control system, which consists of a visual tracking controller and a visual state estimator. This system facilitates human-robot interaction of a unicycle-modeled mobile robot equipped with a tilt camera. Based on a novel dual-Jacobian visual interaction model, a dynamic motion target can be tracked using a single visual tracking controller without target's 3D velocity information. The visual state estimator aims to estimate the optimal system state and target image velocity, which is used later by the visual tracking controller. To achieve this, a self-tuning Kalman filter is proposed to estimate interesting parameters online in real-time. Further, because the proposed method is fully working in image space, the computational complexity and the sensor/camera modeling errors can be reduced. Experimental results validate the effectiveness of the proposed method, in terms of tracking performance, system convergence, and robustness.","PeriodicalId":301626,"journal":{"name":"2007 International Symposium on Computational Intelligence in Robotics and Automation","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127550451","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: 22
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