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Communication in the autonomous and decentralized robot system ACTRESS 自主和分散机器人系统女星的通信
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262503
A. Matsumoto, H. Asama, Y. Ishida, K. Ozaki, I. Endo
{"title":"Communication in the autonomous and decentralized robot system ACTRESS","authors":"A. Matsumoto, H. Asama, Y. Ishida, K. Ozaki, I. Endo","doi":"10.1109/IROS.1990.262503","DOIUrl":"https://doi.org/10.1109/IROS.1990.262503","url":null,"abstract":"The new concept for an advanced robot system, ACTRESS (ACTor-based robots and equipments synthetic system), has been designed for the automation of high level tasks. The system assumes that multiple robots and equipments, which are called robotors in general, work independently or cooperatively by communicating each other, depending on the task requirements. The paper discusses the distributed robot system architecture. The basic design of protocol is shown for the communication between robotors in order to achieve various tasks. The message protocol is extended and the concept of negotiation is introduced as the framework for the cooperative work of the task allocation problem. The message protocol has been applied to object-pushing problem as an example.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125014424","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: 58
How many degrees-of-freedom does a biped need? 两足动物需要多少自由度?
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262401
F. Sias, Yuan F. Zheng
{"title":"How many degrees-of-freedom does a biped need?","authors":"F. Sias, Yuan F. Zheng","doi":"10.1109/IROS.1990.262401","DOIUrl":"https://doi.org/10.1109/IROS.1990.262401","url":null,"abstract":"One of the primary motivations for designing a biped robot is to perform tasks in environments that are too dangerous for human beings. To be a satisfactory substitute for a human being the robot must be able to enter a region originally designed for human access and perform tasks that are not already automated and normally require the capabilities of a person. One measure of the success of a biped design is how well it can emulate the agility of a human being. This paper examines the degrees of freedom required for a biped robot to emulate the 'most significant' gaits and standing reflexes of a human counterpart. The first concern is the number of degrees of freedom required to provide a stable platform. Additional degrees-of-freedom will be added to enable the biped to perform locomotion gaits that permit human agility. The actuator torque required for each degree of freedom is also considered.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"120 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122822780","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: 39
Indoor automation with many mobile robots 室内自动化与许多移动机器人
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262370
Philippe Caloud, Wonyun Choi, J. Latombe, C. L. Pape, Mark H. Yim
{"title":"Indoor automation with many mobile robots","authors":"Philippe Caloud, Wonyun Choi, J. Latombe, C. L. Pape, Mark H. Yim","doi":"10.1109/IROS.1990.262370","DOIUrl":"https://doi.org/10.1109/IROS.1990.262370","url":null,"abstract":"The goal of the GOFER project is to control the operations of many mobile robots (several dozens) in an indoor environment. This project raises many research issues: implementation of nonconflicting sensor systems, man-robot and robot-robot communication systems and protocols, contingency-tolerant motion control, multi-robot motion planning, multi-robot task planning and scheduling. The aim of this paper is to provide an overview of the project and present the current solutions to these problems.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116973658","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: 215
Visual navigation of autonomous on-road vehicle 自主道路车辆的视觉导航
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262384
A. Kutami, Y. Maruya, H. Takahashi, A. Okuno
{"title":"Visual navigation of autonomous on-road vehicle","authors":"A. Kutami, Y. Maruya, H. Takahashi, A. Okuno","doi":"10.1109/IROS.1990.262384","DOIUrl":"https://doi.org/10.1109/IROS.1990.262384","url":null,"abstract":"Presents a visual navigation algorithm for autonomous on-road vehicles. The purpose of the research is to realize an autonomous vehicle navigation system which works as an intelligent driving support system. The basic structure of such autonomous vehicle navigation system is described first. Then, a vehicle control algorithm based on the visual tracking of fixed targets and path planning is proposed as a function of the autonomous vehicle navigation system. A visual navigation experiment of tracking a straight broken-line was conducted to verify the function using an experimental autonomous vehicle.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"87 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124368474","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
Development of neural and symbolic AI control architecture for overtaking 超车神经和符号人工智能控制体系的发展
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262434
T. Gomi, N. Nakamura, K. Fujita, Y. Kagawa, A. Okuno
{"title":"Development of neural and symbolic AI control architecture for overtaking","authors":"T. Gomi, N. Nakamura, K. Fujita, Y. Kagawa, A. Okuno","doi":"10.1109/IROS.1990.262434","DOIUrl":"https://doi.org/10.1109/IROS.1990.262434","url":null,"abstract":"A hybrid model approach which combines neural and symbolic AI methodologies has been introduced as a control system framework for the autonomous guidance of vehicles of the future. The subsumption architecture, originally established by R. Brooks of MIT and later expanded by P. Maes of VUB Brussels is used as the philosophical foundation of the architecture. A series of experiments using the developed architecture for the overtaking by an autonomous vehicle of other vehicles on a structured roadway is being attempted. There, the flow of traffic on a two-lane roadway (through-traffic and passing lanes) in which the control system is being tested, has been modeled by a simulator. The proposed control system is tested on this simulator. The paper describes the over-all architecture of the autonomous control system, including the simulation environment, a description of the experiments being conducted, as well as preliminary results from the experiments.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126344955","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
Analysis and evaluation of cellular robotics (CEBOT) as a distributed intelligent system by communication information amount 蜂窝机器人作为分布式智能系统的通信信息量分析与评价
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262502
T. Fukuda, Y. Kawauchi, H. Asama
{"title":"Analysis and evaluation of cellular robotics (CEBOT) as a distributed intelligent system by communication information amount","authors":"T. Fukuda, Y. Kawauchi, H. Asama","doi":"10.1109/IROS.1990.262502","DOIUrl":"https://doi.org/10.1109/IROS.1990.262502","url":null,"abstract":"Deals with a method of construction of complicated systems based on cells having simple functions. This system is called a cellular robotic system (CEBOT). CEBOT is a kind of a distributed intelligence system which has been considered as one of the next generation artificial intelligence system. Each cell has its own knowledge and database. Each cell can carry out tasks by using its own knowledge and other cells' knowledge. So knowledge allocation must be considered to be optimal due to the intelligent communication. The authors propose the communication system of CEBOT and one method of the communication evaluations based on the communication information calculated from the proposed communication protocol. A concept of the sensitivity for transferring knowledge to the other cell is also described. Some simulation results on estimation of knowledge allocation by minimizing the communication information capacity and the sensitivity are reported.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132548619","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: 54
Robot motion planning: the case of nonholonomic mobiles in a dynamic world 机器人运动规划:动态世界中非完整移动的情况
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262493
Thierry Fraichard, C. Laugier, G. Lievin
{"title":"Robot motion planning: the case of nonholonomic mobiles in a dynamic world","authors":"Thierry Fraichard, C. Laugier, G. Lievin","doi":"10.1109/IROS.1990.262493","DOIUrl":"https://doi.org/10.1109/IROS.1990.262493","url":null,"abstract":"The authors present a trajectory planner whose purpose is to determine a smooth trajectory C which is maneuver free and collision free with respect to the static obstacles of the world. C is made up of straight segments and of circular arcs connected so that C is of class C/sup 1/ and the circular transitions are determined by building and searching a particular domain called the 'space of curvature centers'. They describe a motion controller which is concerned with the online execution of a motion plan made up of the trajectory C and of time constraints of the type 'reach location l at time t'. The motion controller operates on a discretized model of the local environment of the vehicle. This model is used to adapt the behaviour of the vehicle to the characteristics of its actual environment (to avoid the other vehicles in particular). This is achieved using a potential fields approach allowing the vehicle to follow as closely as possible the given nominal trajectory and to satisfy as much as possible the associated time constraints.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132649672","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
Terrain following control of self-contained semi-fixed gait hexapod walking robot 独立式半固定步态六足步行机器人的地形跟随控制
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262406
N. Koyachi, H. Adachi, Tatsuya Nakamura, E. Nakano
{"title":"Terrain following control of self-contained semi-fixed gait hexapod walking robot","authors":"N. Koyachi, H. Adachi, Tatsuya Nakamura, E. Nakano","doi":"10.1109/IROS.1990.262406","DOIUrl":"https://doi.org/10.1109/IROS.1990.262406","url":null,"abstract":"The paper provides a control algorithm for terrain following of the self-contained semi-fixed gait hexapod walking machine MELCRAB-2. MELCRAB-2 uses decoupled freedoms of the leg mechanism for the body-propelling motion and the terrain-adapting motion. The mechanism simplifies the drive and control of the walking machine over rough terrain. The geometry of the leg mechanism is described, and its inverse kinematics is solved analytically. An algorithm for following the terrain and adjusting the body altitude is introduced.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131746237","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: 12
Single leg walking with integrated perception, planning and control 单腿行走，集感知、规划和控制于一体
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262374
E. Krotkov, R. Simmons, C. Thorpe
{"title":"Single leg walking with integrated perception, planning and control","authors":"E. Krotkov, R. Simmons, C. Thorpe","doi":"10.1109/IROS.1990.262374","DOIUrl":"https://doi.org/10.1109/IROS.1990.262374","url":null,"abstract":"Describes an integrated system capable of walking over rugged terrain using a single leg suspended below a carriage that rolls along rails. To walk, the system uses a laser scanner to find a foothold, positions the leg above the foothold, contacts the terrain with the foot, and applies force enough to advance the carriage along the rails. Walking both forward and backward, the system has traversed hundreds of meters of rugged terrain including obstacles too tall to step over, trenches too deep to step in, closely spaced rocks, and sand hills. The implemented system consists of a number of task-specific processes (two for planning, two for perception, one for real-time control) and a central control process that directs the flow of communication between processes. Implementing this integrated system is a significant step toward the goal of the CMU Planetary Rover project: to prototype a autonomous six-legged robot for planetary exploration.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131423616","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
Visual inspection system for manhole facilities 人孔设施目视检查系统
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262423
Y. Nomura, H. Naruse, Atsushi Ide, Michihiro Saga
{"title":"Visual inspection system for manhole facilities","authors":"Y. Nomura, H. Naruse, Atsushi Ide, Michihiro Saga","doi":"10.1109/IROS.1990.262423","DOIUrl":"https://doi.org/10.1109/IROS.1990.262423","url":null,"abstract":"Presents a novel visual robot applied as a visual inspection system for manhole facilities. The system enables remote inspection from the ground, and makes inspection work both efficient and safe. Furthermore, it draws a facilities plan automatically by digital picture processing and enables the construction of an electronic database of plant records. Basic technologies of the system are highly accurate measurement algorithms with edge location, edge orientation and TV camera calibration.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131236843","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
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