Autonomous Robots
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Globally Consistent Range Scan Alignment for Environment Mapping
Autonomous Robots - Tập 4 Số 4 - Trang 333-349 - 1997
A robot exploring an unknown environment may need to build a worldmodel from sensor measurements. In order to integrate all the framesof sensor data, it is essential to align the data properly. Anincremental approach has been typically used in the past, in whicheach local frame of data is aligned to a cumulative global model, andthen merged to the model. Because different parts of the model areupd......
Distributed matroid-constrained submodular maximization for multi-robot exploration: theory and practice
Autonomous Robots - Tập 43 - Trang 485-501 - 2018
This work addresses the problem of efficient online exploration and mapping using multi-robot teams via a new distributed algorithm for multi-robot exploration, distributed sequential greedy assignment (DSGA), which is based on sequential greedy assignment (SGA). While SGA permits bounds on suboptimality, robots must execute planning steps sequentially. Rather than plan for each robot sequentially......
Đội Bóng Robot AGILO - Học Hỏi Dựa Trên Kinh Nghiệm và Lập Luận Xác Suất trong Kiểm Soát Robot Tự Động Dịch bởi AI
Autonomous Robots - Tập 17 - Trang 55-77 - 2004
Bài báo này mô tả mô hình tính toán cơ sở cho đội bóng robot tự động AGILO, việc triển khai của nó và những trải nghiệm của chúng tôi với nó. Theo mô hình của chúng tôi, hệ thống điều khiển của một robot bóng đá tự động bao gồm một bộ ước lượng trạng thái trò chơi xác suất và một mô-đun lựa chọn hành động theo tình huống. Bộ ước lượng trạng thái trò chơi tính toán trạng thái niềm tin của robot liê......
#robot tự động #bóng đá robot #học hỏi dựa trên kinh nghiệm #lập luận xác suất #kiểm soát robot
Top-down vs bottom-up methodologies in multi-agent system design
Autonomous Robots - Tập 24 - Trang 303-313 - 2008
Traditionally, two alternative design approaches have been available to engineers: top-down and bottom-up. In the top-down approach, the design process starts with specifying the global system state and assuming that each component has global knowledge of the system, as in a centralized approach. The solution is then decentralized by replacing global knowledge with communication. In the bottom-up......
3-D relative positioning sensor for indoor flying robots
Autonomous Robots - Tập 33 - Trang 5-20 - 2012
Swarms of indoor flying robots are promising for many applications, including searching tasks in collapsing buildings, or mobile surveillance and monitoring tasks in complex man-made structures. For tasks that employ several flying robots, spatial-coordination between robots is essential for achieving collective operation. However, there is a lack of on-board sensors capable of sensing the highly-......
HERB: a home exploring robotic butler
Autonomous Robots - Tập 28 - Trang 5-20 - 2009
We describe the architecture, algorithms, and experiments with HERB, an autonomous mobile manipulator that performs useful manipulation tasks in the home. We present new algorithms for searching for objects, learning to navigate in cluttered dynamic indoor scenes, recognizing and registering objects accurately in high clutter using vision, manipulating doors and other constrained objects using cag......
Integrating Exploration, Localization, Navigation and Planning with a Common Representation
Autonomous Robots - Tập 6 - Trang 293-308 - 1999
Two major themes of our research include the creation of mobile robot systems that are robust and adaptive in rapidly changing environments, and the view of integration as a basic research issue. Where reasonable, we try to use the same representations to allow different components to work more readily together and to allow better and more natural integration of and communication between these com......
Fast, On-Line Learning of Globally Consistent Maps
Autonomous Robots - Tập 12 - Trang 287-300 - 2002
To navigate in unknown environments, mobile robots require the ability to build their own maps. A major problem for robot map building is that odometry-based dead reckoning cannot be used to assign accurate global position information to a map because of cumulative drift errors. This paper introduces a fast, on-line algorithm for learning geometrically consistent maps using only local metric infor......
Hybrid image plane/stereo (HIPS) manipulation for robotic space applications
Autonomous Robots - Tập 23 - Trang 83-96 - 2007
Manipulation systems for planetary exploration operate under severe limitations due to power and weight restrictions and extreme environmental conditions. Typically such systems employ carefully calibrated stereo cameras and carefully calibrated manipulators to achieve precision on the order of ten millimeters with respect to instrument placement activities. The environmental and functional restr......
A highly stable and efficient spherical underwater robot with hybrid propulsion devices
Autonomous Robots - Tập 44 - Trang 759-771 - 2020
Underwater robots have been promoted a significant interest in monitoring the marine environment. In some complex situation, robots sometimes need to keep moving fast, sometimes need to keep low speed and low noise. To address this issue, a novel spherical underwater robot (SUR IV) with hybrid propulsion devices including vectored water-jet and propeller thrusters is proposed in this paper. The di......
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