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2009 4th International Conference on Autonomous Robots and Agents最新文献

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Integrated relative navigation using a low cost vision sensor for an autonomous aerial vehicle 基于低成本视觉传感器的自主飞行器集成相对导航
2009 4th International Conference on Autonomous Robots and Agents Pub Date : 2000-02-01 DOI: 10.1109/ICARA.2000.4803991
Sukchang Yun, S. Chun, S. Sung, Young Jae Lee
{"title":"Integrated relative navigation using a low cost vision sensor for an autonomous aerial vehicle","authors":"Sukchang Yun, S. Chun, S. Sung, Young Jae Lee","doi":"10.1109/ICARA.2000.4803991","DOIUrl":"https://doi.org/10.1109/ICARA.2000.4803991","url":null,"abstract":"Despite precise relative positioning performance of a differential GPS based navigation system, it requires the reference station in close boundaries and is likely to be affected by satellite observation environments. In this background, this paper presents an INS and vision sensor integrated system, which uses a combination of feature points and the landmark whose position is preliminarily known in order to overcome the limitation of GPS/INS integrated system. The proposed system has the advantage of implementing three-dimensional navigation using the geometry of landmark images. The simulation verifies the estimation accuracy of integrated navigation system, by which the performance enhancement in estimating relative position of the aerial vehicle is proved explicitly.","PeriodicalId":435769,"journal":{"name":"2009 4th International Conference on Autonomous Robots and Agents","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125856610","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
Autonomous mobile robot self-localization based on environmental visual features 基于环境视觉特征的自主移动机器人自定位
2009 4th International Conference on Autonomous Robots and Agents Pub Date : 2000-02-01 DOI: 10.1109/ICARA.2000.4803936
F. A. Jafar, Yasunori Suzuki, K. Yokota, T. Matsuoka
{"title":"Autonomous mobile robot self-localization based on environmental visual features","authors":"F. A. Jafar, Yasunori Suzuki, K. Yokota, T. Matsuoka","doi":"10.1109/ICARA.2000.4803936","DOIUrl":"https://doi.org/10.1109/ICARA.2000.4803936","url":null,"abstract":"This paper presents a robust robot self-localization method where robot will identify its own position based on visual appearance features in the environment. Many research studies have been conducted on the navigation method for the autonomous mobile robot, and introduced precise and accurate robot self-localization methods. However, we believe that in some situation, it is not necessary for a robot to precisely and accurately identify and measure its own position. In our proposed method, the robot does not have to measure its own position precisely but depends only on the visual features which could be extracted from the environment. Experimental results demonstrate the effectiveness of our proposed method.","PeriodicalId":435769,"journal":{"name":"2009 4th International Conference on Autonomous Robots and Agents","volume":"121 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127183463","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
Unsupervised approach to acquire robot joint attention 获取机器人关节注意力的无监督方法
2009 4th International Conference on Autonomous Robots and Agents Pub Date : 2000-02-01 DOI: 10.1109/ICARA.2000.4803926
P. D. Silva, Katsunori Tadano, S. Lambacher, S. Herath, M. Higashi
{"title":"Unsupervised approach to acquire robot joint attention","authors":"P. D. Silva, Katsunori Tadano, S. Lambacher, S. Herath, M. Higashi","doi":"10.1109/ICARA.2000.4803926","DOIUrl":"https://doi.org/10.1109/ICARA.2000.4803926","url":null,"abstract":"Existing approaches to joint attention of robots have considered an object's information (location and visual information) with a head pose of caregiver using data from many subjects to train the robot joint attention model. These approaches have used simulated data (of the object) to train the robot joint attention model, and they are incapable of accurately predicting a caregiver's attention when the caregiver has a complex eye gaze pattern. A complex eye gaze pattern can be defined as a caregiver going over the number of objects in the environment and finally attending to the object of interest. At this time it is possible for us to obtain a long sequence of eye gaze data using a combination of different eye gaze patterns. Our approach segments the eye gaze data and applies a Mixture Gaussian-based unsupervised cluster to detect the caregiver's intention at each of the time segmentations. Finally, the above attention information is combined with a geometrical model of objects to detect the caregiver's object of interest by considering the entire eye gaze segmentations. The novelty of our approach is to detect the caregiver's object of interest when the caregiver has a complex eye gaze pattern and does not even use any of the training data. The experimental results revealed that when the objects distance is 20cm, our proposed approach can accurately recognize and impressive 80% of the caregiver's interested objects. The contrivance of the time segmentation is manipulated to infer a caregiver's attention plans and behaviors in each time interval. It is directed to detect the caregiver interested object for acquiring the skills of joint attention.","PeriodicalId":435769,"journal":{"name":"2009 4th International Conference on Autonomous Robots and Agents","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125854776","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: 3
Trajectory optimization by cooperative maneuver with different types of sensors 基于不同类型传感器协同机动的弹道优化
2009 4th International Conference on Autonomous Robots and Agents Pub Date : 2000-02-01 DOI: 10.1109/ICARA.2000.4803993
Wonsuk Lee, H. Leeghim, H. Bang
{"title":"Trajectory optimization by cooperative maneuver with different types of sensors","authors":"Wonsuk Lee, H. Leeghim, H. Bang","doi":"10.1109/ICARA.2000.4803993","DOIUrl":"https://doi.org/10.1109/ICARA.2000.4803993","url":null,"abstract":"Using Fisher Information Matrix(FIM), the optimal trajectory to localize a specifc target is obtained as optimization problem. However, it is more effective to employ more vehicles with various sensors in order to gather suffcient information about the target. So, it is investigated how multi vehicles with different types of sensors by cooperative maneuver affect the trajectory in this paper. Clearly analytical solution is obtained from the above formulation and then the solution is verified through several simulations.","PeriodicalId":435769,"journal":{"name":"2009 4th International Conference on Autonomous Robots and Agents","volume":"151 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126198596","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
Constrained optimal control for wheeled cars 轮式汽车的约束最优控制
2009 4th International Conference on Autonomous Robots and Agents Pub Date : 2000-02-01 DOI: 10.1109/ICARA.2000.4803929
B. Shiu, Chun‐Liang Lin
{"title":"Constrained optimal control for wheeled cars","authors":"B. Shiu, Chun‐Liang Lin","doi":"10.1109/ICARA.2000.4803929","DOIUrl":"https://doi.org/10.1109/ICARA.2000.4803929","url":null,"abstract":"This paper considers the optimal control problem for a wheeled car (robot) subject to inequality constraints which are induced by hardware. Before solving the optimal control problem, we propose an equality constraint to substitute the inequality constraints with a new technique, which is developed to design an optimal controller for tracking while characterizing the reasonable input torque. It is shown that the problem of optimal control design with equality constraints imposing feasible range of input torque is easily solvable by applying the proposed technique.","PeriodicalId":435769,"journal":{"name":"2009 4th International Conference on Autonomous Robots and Agents","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122361395","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
To add with caution — decreasing a swarm robotics' efficiency by imprudently enhancing the robots' capabilities 谨慎地说——通过不谨慎地增强机器人的能力来降低群体机器人的效率
2009 4th International Conference on Autonomous Robots and Agents Pub Date : 2000-02-01 DOI: 10.1109/ICARA.2000.4804014
Yaniv Altshuler
{"title":"To add with caution — decreasing a swarm robotics' efficiency by imprudently enhancing the robots' capabilities","authors":"Yaniv Altshuler","doi":"10.1109/ICARA.2000.4804014","DOIUrl":"https://doi.org/10.1109/ICARA.2000.4804014","url":null,"abstract":"This work discusses the common opinion among robotic systems' designers, speculating that given a robotic system designed for efficiently handling a given assignment, enhancing this system by increasing the physical capabilities of the robots may only result in an improvement in the overall performance of the system. Namely, a robotic systems designer may be allowed to freely use existing designs as a basis for new systems, by merely enhancing the robots' resources and capabilities, until finally the required performance will be achieved. This work argues that this assumption is incorrect and should be avoided, as it may result in systems comprised of advanced and expensive robots, which achieve far inferior performance than the original systems used as the basis of their designs. The work presents an example concerning the problem of multi-robots exploration of a graph, in which adding communication features to the robots causes the entire system's performance to drop significantly.","PeriodicalId":435769,"journal":{"name":"2009 4th International Conference on Autonomous Robots and Agents","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128913268","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: 3
Swarm ant robotics for a dynamic cleaning problem - analytic lower bounds and impossibility results 一类动态清洁问题的群蚁机器人——解析下界和不可能结果
2009 4th International Conference on Autonomous Robots and Agents Pub Date : 2000-02-01 DOI: 10.1109/ICARA.2000.4804016
Yaniv Altshuler, V. Yanovski, I. Wagner, A. Bruckstein
{"title":"Swarm ant robotics for a dynamic cleaning problem - analytic lower bounds and impossibility results","authors":"Yaniv Altshuler, V. Yanovski, I. Wagner, A. Bruckstein","doi":"10.1109/ICARA.2000.4804016","DOIUrl":"https://doi.org/10.1109/ICARA.2000.4804016","url":null,"abstract":"Several recent works considered multi a(ge)nt robotics in static environments. In this work we examine ways of operating in dynamic environments, in which changes take place independently of the agents' activity. The work focuses on a dynamic variant of the known Cooperative Cleaners problem (described and analyzed by Wagner and Bruckstein in [1]). This problem assumes a grid, having “dirty” pixels or tiles, that form a connected region of the grid. Several agents move in this dirty region, each having the ability to “clean” the place it is located in. The dynamic variant of the problem involves a deterministic expansion of dirt in the environment, simulating a spreading of contamination, or fire. Several impossibility results for the problem are shown. In addition, a cleaning protocol for the problem is presented, as well as an analytic lower bound on its performance.","PeriodicalId":435769,"journal":{"name":"2009 4th International Conference on Autonomous Robots and Agents","volume":"243 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128814548","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
Height measuring system via slant photography 高度测量系统通过倾斜摄影
2009 4th International Conference on Autonomous Robots and Agents Pub Date : 2000-02-01 DOI: 10.1109/ICARA.2000.4803952
Ming-Chih Lu, Wei-Yen Wang, C. Chuang, Cheng-Pei Tsai, Yin-Yu Lu
{"title":"Height measuring system via slant photography","authors":"Ming-Chih Lu, Wei-Yen Wang, C. Chuang, Cheng-Pei Tsai, Yin-Yu Lu","doi":"10.1109/ICARA.2000.4803952","DOIUrl":"https://doi.org/10.1109/ICARA.2000.4803952","url":null,"abstract":"In this paper, a novel distance measuring method to measure the height of a building is proposed. Traditionally, distance measuring using CCD is based on stereo parallax. This paper puts forward a method of measuring the width and height of a building regardless of the distance of the camera or the angle between optical axis and ground. By using two parallel laser spots, the distance from the camera to the building and the height, the width of the building, and the area of special region can be determined in a single photo session and with a single picture. Experiments show that even highly non-orthogonal pictures taken from a short distance can be used to determine the height of a building. The result will not be affected by the angle between the camera's optical axis, the ground and the measured surface.","PeriodicalId":435769,"journal":{"name":"2009 4th International Conference on Autonomous Robots and Agents","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128460052","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: 3
Algorithm for swarm robot flocking behavior 群体机器人群集行为算法
2009 4th International Conference on Autonomous Robots and Agents Pub Date : 2000-02-01 DOI: 10.1109/ICARA.2000.4803943
Xiang Li, M. F. Ercan, Yi Zhou, Y. Fung
{"title":"Algorithm for swarm robot flocking behavior","authors":"Xiang Li, M. F. Ercan, Yi Zhou, Y. Fung","doi":"10.1109/ICARA.2000.4803943","DOIUrl":"https://doi.org/10.1109/ICARA.2000.4803943","url":null,"abstract":"This paper presents a decentralized control algorithm for swarm of robots based on geometric approach. Our objective is to build a swarm that can demonstrate collective behavior. The control algorithm, which is executed by all the members of the swarm, is presented in details. Our simulation results show that group behaviors such as aggregation, obstacle avoidance and flocking are achieved successfully.","PeriodicalId":435769,"journal":{"name":"2009 4th International Conference on Autonomous Robots and Agents","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117008729","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
Swarm robots task allocation based on response threshold model 基于响应阈值模型的群机器人任务分配
2009 4th International Conference on Autonomous Robots and Agents Pub Date : 2000-02-01 DOI: 10.1109/ICARA.2000.4803959
Yongming Yang, Changjiu Zhou, Yantao Tian
{"title":"Swarm robots task allocation based on response threshold model","authors":"Yongming Yang, Changjiu Zhou, Yantao Tian","doi":"10.1109/ICARA.2000.4803959","DOIUrl":"https://doi.org/10.1109/ICARA.2000.4803959","url":null,"abstract":"A task allocation algorithm is proposed for the foraging mission. The goal of the foraging mission is to collect foods timely so that the food consumption at home base can be satisfied. This algorithm is based on response threshold model which can account for the regulation of division of labor in insect societies. This algorithm is scalable and distributed, and no communication strategy is utilized. Simulation experiments are carried out to study the effect of response threshold on the performance of foraging. The simulation experiments verified that this algorithm can respond properly to the change of food density and the change of food consumption rate.","PeriodicalId":435769,"journal":{"name":"2009 4th International Conference on Autonomous Robots and Agents","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115771944","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: 38
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