Download or read book Distributed Consensus with Visual Perception in Multi Robot Systems written by Eduardo Montijano and published by Springer. This book was released on 2015-02-23 with total page 166 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph introduces novel responses to the different problems that arise when multiple robots need to execute a task in cooperation, each robot in the team having a monocular camera as its primary input sensor. Its central proposition is that a consistent perception of the world is crucial for the good development of any multi-robot application. The text focuses on the high-level problem of cooperative perception by a multi-robot system: the idea that, depending on what each robot sees and its current situation, it will need to communicate these things to its fellows whenever possible to share what it has found and keep updated by them in its turn. However, in any realistic scenario, distributed solutions to this problem are not trivial and need to be addressed from as many angles as possible. Distributed Consensus with Visual Perception in Multi-Robot Systems covers a variety of related topics such as: • distributed consensus algorithms; • data association and robustness problems; • convergence speed; and • cooperative mapping. The book first puts forward algorithmic solutions to these problems and then supports them with empirical validations working with real images. It provides the reader with a deeper understanding of the problems associated to the perception of the world by a team of cooperating robots with onboard cameras. Academic researchers and graduate students working with multi-robot systems, or investigating problems of distributed control or computer vision and cooperative perception will find this book of material assistance with their studies.

Download or read book Control of Multiple Robots Using Vision Sensors written by Miguel Aranda and published by Springer. This book was released on 2017-05-11 with total page 197 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph introduces novel methods for the control and navigation of mobile robots using multiple-1-d-view models obtained from omni-directional cameras. This approach overcomes field-of-view and robustness limitations, simultaneously enhancing accuracy and simplifying application on real platforms. The authors also address coordinated motion tasks for multiple robots, exploring different system architectures, particularly the use of multiple aerial cameras in driving robot formations on the ground. Again, this has benefits of simplicity, scalability and flexibility. Coverage includes details of: a method for visual robot homing based on a memory of omni-directional images; a novel vision-based pose stabilization methodology for non-holonomic ground robots based on sinusoidal-varying control inputs; an algorithm to recover a generic motion between two 1-d views and which does not require a third view; a novel multi-robot setup where multiple camera-carrying unmanned aerial vehicles are used to observe and control a formation of ground mobile robots; and three coordinate-free methods for decentralized mobile robot formation stabilization. The performance of the different methods is evaluated both in simulation and experimentally with real robotic platforms and vision sensors. Control of Multiple Robots Using Vision Sensors will serve both academic researchers studying visual control of single and multiple robots and robotics engineers seeking to design control systems based on visual sensors.

Download or read book Multi View Geometry Based Visual Perception and Control of Robotic Systems written by Jian Chen and published by CRC Press. This book was released on 2018-06-14 with total page 342 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book describes visual perception and control methods for robotic systems that need to interact with the environment. Multiple view geometry is utilized to extract low-dimensional geometric information from abundant and high-dimensional image information, making it convenient to develop general solutions for robot perception and control tasks. In this book, multiple view geometry is used for geometric modeling and scaled pose estimation. Then Lyapunov methods are applied to design stabilizing control laws in the presence of model uncertainties and multiple constraints.

Download or read book Robotic Vision Technologies for Machine Learning and Vision Applications written by Garcia-Rodriguez, Jose and published by IGI Global. This book was released on 2012-12-31 with total page 535 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotic systems consist of object or scene recognition, vision-based motion control, vision-based mapping, and dense range sensing, and are used for identification and navigation. As these computer vision and robotic connections continue to develop, the benefits of vision technology including savings, improved quality, reliability, safety, and productivity are revealed. Robotic Vision: Technologies for Machine Learning and Vision Applications is a comprehensive collection which highlights a solid framework for understanding existing work and planning future research. This book includes current research on the fields of robotics, machine vision, image processing and pattern recognition that is important to applying machine vision methods in the real world.

Download or read book Perception for Control and Control for Perception of Vision based Autonomous Aerial Robots written by Eric Cristofalo and published by . This book was released on 2020 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The mission of this thesis is to develop visual perception and feedback control algorithms for autonomous aerial robots that are equipped with an onboard camera. We introduce light-weight algorithms that parse images from the robot's camera directly into feedback signals for control laws that improve perception quality. We emphasize the co-design, analysis, and implementation of the perception, planning, and control tasks to ensure that the entire autonomy pipeline is suitable for aerial robots with real-world constraints. The methods presented in this thesis further leverage perception for control and control for perception: the former uses perception to inform the robot how to act while the later uses robotic control to improve the robot's perception of the world. Perception in this work refers to the processing of raw sensor measurements and the estimation of state values while control refers to the planning of useful robot motions and control inputs based on these state estimates. The major capability that we enable is a robot's ability to sense this unmeasured scene geometry as well as the three-dimensional (3D) robot pose from images acquired by its onboard camera. Our algorithms specifically enable a UAV with an onboard camera to use control to reconstruct the 3D geometry of its environment in a both sparse sense and a dense sense, estimate its own global pose with respect to the environment, and estimate the relative poses of other UAVs and dynamic objects of interest in the scene. All methods are implemented on real robots with real-world sensory, power, communication, and computation constraints to demonstrate the need for tightly-coupled, fast perception and control in robot autonomy. Depth estimation at specific pixel locations is often considered to be a perception-specific task for a single robot. We instead control the robot to steer a sensor to improve this depth estimation. First, we develop an active perception controller that maneuvers a quadrotor with a downward facing camera according to the gradient of maximum uncertainty reduction for a sparse subset of image features. This allows us to actively build a 3D point cloud representation of the scene quickly and thus enabling fast situational awareness for the aerial robot. Our method reduces uncertainty more quickly than state-of-the-art approaches for approximately an order of magnitude less computation time. Second, we autonomously control the focus mechanism on a camera lens to build metric-scale, dense depth maps that are suitable for robotic localization and navigation. Compared to the depth data from an off-the-shelf RGB-D sensor (Microsoft Kinect), our Depth-from-Focus method recovers the depth for 88% of the pixels with no RGB-D measurements in near-field regime (0.0 - 0.5 meters), making it a suitable complimentary sensor for RGB-D. We demonstrate dense sensing on a ground robot localization application and with AirSim, an advanced aerial robot simulator. We then consider applications where groups of aerial robots with monocular cameras seek to estimate their pose, or position and orientation, in the environment. Examples include formation control, target tracking, drone racing, and pose graph optimization. Here, we employ ideas from control theory to perform the pose estimation. We first propose the tight-coupling of pairwise relative pose estimation with cooperative control methods for distributed formation control using quadrotors with downward facing cameras, target tracking in a heterogenous robot system, and relative pose estimation for competitive drone racing. We experimentally validate all methods with real-time perception and control implementations. Finally, we develop a distributed pose graph optimization method for networks of robots with noisy relative pose measurements. Unlike existing pose graph optimization methods, our method is inspired by control theoretic approaches to distributed formation control. We leverage tools from Lyapunov theory and multi-agent consensus to derive a relative pose estimation algorithm with provable performance guarantees. Our method also reaches consensus 13x faster than a state-of-the-art centralized strategy and reaches solutions that are approximately 6x more accurate than decentralized pose estimation methods. While the computation times between our method and the benchmarch distributed method are similar for small networks, ours outperforms the benchmark by a factor of 100 on networks with large numbers of robots (> 1000). Our approach is easy to implement and fast, making it suitable for a distributed backend in a SLAM application. Our methods will ultimately allow micro aerial vehicles to perform more complicated tasks. Our focus on tightly-coupled perception and control leads to algorithms that are streamlined for real aerial robots with real constraints. These robots will be more flexible for applications including infrastructure inspection, automated farming, and cinematography. Our methods will also enable more robot-to-robot collaboration since we present effective ways to estimate the relative pose between them. Multi-robot systems will be an important part of the robotic future as they are robust to the failure of individual robots and allow complex computation to be distributed amongst the agents. Most of all, our methods allow robots to be more self sufficient by utilizing their onboard camera and by accurately estimating the world's structure. We believe these methods will enable aerial robots to better understand our 3D world.

Download or read book Intelligent Control of Robotic Systems written by Laxmidhar Behera and published by CRC Press. This book was released on 2020-04-07 with total page 499 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book illustrates basic principles, along with the development of the advanced algorithms, to realize smart robotic systems. It speaks to strategies by which a robot (manipulators, mobile robot, quadrotor) can learn its own kinematics and dynamics from data. In this context, two major issues have been dealt with; namely, stability of the systems and experimental validations. Learning algorithms and techniques as covered in this book easily extend to other robotic systems as well. The book contains MATLAB- based examples and c-codes under robot operating systems (ROS) for experimental validation so that readers can replicate these algorithms in robotics platforms.

Download or read book Multi view Geometry Based Visual Perception and Control of Robotic Systems written by Jian Chen and published by CRC Press. This book was released on 2018 with total page 342 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book describes visual perception and control methods for robotic systems that need to interact with the environment. Multiple view geometry is utilized to extract low-dimensional geometric information from abundant and high-dimensional image information, making it convenient to develop general solutions for robot perception and control tasks. In this book, multiple view geometry is used for geometric modeling and scaled pose estimation. Then Lyapunov methods are applied to design stabilizing control laws in the presence of model uncertainties and multiple constraints.

Download or read book Visual Perception for Humanoid Robots written by David Israel González Aguirre and published by Springer. This book was released on 2018-09-01 with total page 220 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides an overview of model-based environmental visual perception for humanoid robots. The visual perception of a humanoid robot creates a bidirectional bridge connecting sensor signals with internal representations of environmental objects. The objective of such perception systems is to answer two fundamental questions: What & where is it? To answer these questions using a sensor-to-representation bridge, coordinated processes are conducted to extract and exploit cues matching robot’s mental representations to physical entities. These include sensor & actuator modeling, calibration, filtering, and feature extraction for state estimation. This book discusses the following topics in depth: • Active Sensing: Robust probabilistic methods for optimal, high dynamic range image acquisition are suitable for use with inexpensive cameras. This enables ideal sensing in arbitrary environmental conditions encountered in human-centric spaces. The book quantitatively shows the importance of equipping robots with dependable visual sensing. • Feature Extraction & Recognition: Parameter-free, edge extraction methods based on structural graphs enable the representation of geometric primitives effectively and efficiently. This is done by eccentricity segmentation providing excellent recognition even on noisy & low-resolution images. Stereoscopic vision, Euclidean metric and graph-shape descriptors are shown to be powerful mechanisms for difficult recognition tasks. • Global Self-Localization & Depth Uncertainty Learning: Simultaneous feature matching for global localization and 6D self-pose estimation are addressed by a novel geometric and probabilistic concept using intersection of Gaussian spheres. The path from intuition to the closed-form optimal solution determining the robot location is described, including a supervised learning method for uncertainty depth modeling based on extensive ground-truth training data from a motion capture system. The methods and experiments are presented in self-contained chapters with comparisons and the state of the art. The algorithms were implemented and empirically evaluated on two humanoid robots: ARMAR III-A & B. The excellent robustness, performance and derived results received an award at the IEEE conference on humanoid robots and the contributions have been utilized for numerous visual manipulation tasks with demonstration at distinguished venues such as ICRA, CeBIT, IAS, and Automatica.

Download or read book Parallel and Distributed Map Merging and Localization written by Rosario Aragues and published by Springer. This book was released on 2015-10-31 with total page 122 pages. Available in PDF, EPUB and Kindle. Book excerpt: This work examines the challenges of distributed map merging and localization in multi-robot systems, which enables robots to acquire the knowledge of their surroundings needed to carry out coordinated tasks. After identifying the main issues associated with this problem, each chapter introduces a different distributed strategy for solving them. In addition to presenting a review of distributed algorithms for perception in localization and map merging, the text also provides the reader with the necessary tools for proposing new solutions to problems of multi-robot perception, as well as other interesting topics related to multi-robot scenarios. The coverage is largely self-contained, supported by numerous explanations and demonstrations, although references for further study are also supplied. The reader will not require any prior background knowledge, other than a basic understanding of mathematics at a graduate-student level.

Download or read book Robot Vision written by Gerald Sommer and published by Springer. This book was released on 2008-01-29 with total page 477 pages. Available in PDF, EPUB and Kindle. Book excerpt: In 1986, B.K.P. Horn published a book entitled Robot Vision, which actually discussed a wider ?eld of subjects, basically addressing the ?eld of computer vision, but introducing “robot vision” as a technical term. Since then, the - teraction between computer vision and research on mobile systems (often called “robots”, e.g., in an industrial context, but also including vehicles, such as cars, wheelchairs, tower cranes, and so forth) established a diverse area of research, today known as robot vision. Robot vision (or, more general, robotics) is a fast-growing discipline, already taught as a dedicated teaching program at university level. The term “robot vision” addresses any autonomous behavior of a technical system supported by visual sensoric information. While robot vision focusses on the vision process, visual robotics is more directed toward control and automatization. In practice, however, both ?elds strongly interact. Robot Vision 2008 was the second international workshop, counting a 2001 workshop with identical name as the ?rst in this series. Both workshops were organized in close cooperation between researchers from New Zealand and Germany, and took place at The University of Auckland, New Zealand. Participants of the 2008 workshop came from Europe, USA, South America, the Middle East, the Far East, Australia, and of course from New Zealand.

Download or read book Robotic Systems Concepts Methodologies Tools and Applications written by Management Association, Information Resources and published by IGI Global. This book was released on 2020-01-03 with total page 2075 pages. Available in PDF, EPUB and Kindle. Book excerpt: Through expanded intelligence, the use of robotics has fundamentally transformed a variety of fields, including manufacturing, aerospace, medicine, social services, and agriculture. Continued research on robotic design is critical to solving various dynamic obstacles individuals, enterprises, and humanity at large face on a daily basis. Robotic Systems: Concepts, Methodologies, Tools, and Applications is a vital reference source that delves into the current issues, methodologies, and trends relating to advanced robotic technology in the modern world. Highlighting a range of topics such as mechatronics, cybernetics, and human-computer interaction, this multi-volume book is ideally designed for robotics engineers, mechanical engineers, robotics technicians, operators, software engineers, designers, programmers, industry professionals, researchers, students, academicians, and computer practitioners seeking current research on developing innovative ideas for intelligent and autonomous robotics systems.

Download or read book Modeling Decisions for Artificial Intelligence written by Vicenç Torra and published by Springer. This book was released on 2014-10-23 with total page 256 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the proceedings of the 11th International Conference on Modeling Decisions for Artificial Intelligence, MDAI 2014, held in Tokyo, Japan, in October 2014. The 19 revised full papers presented together with an invited paper were carefully reviewed and selected from 38 submissions. They deal with the theory and tools for modeling decisions, as well as applications that encompass decision making processes and information fusion techniques and are organized in topical sections on aggregation operators and decision making, optimization, clustering and similarity, and data mining and data privacy.

Download or read book Scientific and Technical Aerospace Reports written by and published by . This book was released on 1994 with total page 836 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Multimodal Perception and Secure State Estimation for Robotic Mobility Platforms written by Xinghua Liu and published by John Wiley & Sons. This book was released on 2022-09-21 with total page 228 pages. Available in PDF, EPUB and Kindle. Book excerpt: Multimodal Perception and Secure State Estimation for Robotic Mobility Platforms Enables readers to understand important new trends in multimodal perception for mobile robotics This book provides a novel perspective on secure state estimation and multimodal perception for robotic mobility platforms such as autonomous vehicles. It thoroughly evaluates filter-based secure dynamic pose estimation approaches for autonomous vehicles over multiple attack signals and shows that they outperform conventional Kalman filtered results. As a modern learning resource, it contains extensive simulative and experimental results that have been successfully implemented on various models and real platforms. To aid in reader comprehension, detailed and illustrative examples on algorithm implementation and performance evaluation are also presented. Written by four qualified authors in the field, sample topics covered in the book include: Secure state estimation that focuses on system robustness under cyber-attacks Multi-sensor fusion that helps improve system performance based on the complementary characteristics of different sensors A geometric pose estimation framework to incorporate measurements and constraints into a unified fusion scheme, which has been validated using public and self-collected data How to achieve real-time road-constrained and heading-assisted pose estimation This book will appeal to graduate-level students and professionals in the fields of ground vehicle pose estimation and perception who are looking for modern and updated insight into key concepts related to the field of robotic mobility platforms.

Download or read book Advances in Unmanned Aerial Vehicles written by Kimon P. Valavanis and published by Springer Science & Business Media. This book was released on 2008-02-26 with total page 552 pages. Available in PDF, EPUB and Kindle. Book excerpt: The past decade has seen tremendous interest in the production and refinement of unmanned aerial vehicles, both fixed-wing, such as airplanes and rotary-wing, such as helicopters and vertical takeoff and landing vehicles. This book provides a diversified survey of research and development on small and miniature unmanned aerial vehicles of both fixed and rotary wing designs. From historical background to proposed new applications, this is the most comprehensive reference yet.

Download or read book Multi Robot Systems From Swarms to Intelligent Automata Volume II written by Alan C. Schultz and published by Springer. This book was released on 2010-12-08 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: This Proceedings Volume documents recent cutting-edge developments in multi-robot systems research and is the result of the Second International Workshop on Multi-Robot Systems that was held in March 2003 at the Naval Research Laboratory in Washington, D.C. This Workshop brought together top researchers working in areas relevant to designing teams of autonomous vehicles, including robots and unmanned ground, air, surface, and undersea vehicles. The workshop focused on the challenging issues of team architectures, vehicle learning and adaptation, heterogeneous group control and cooperation, task selection, dynamic autonomy, mixed initiative, and human and robot team interaction. A broad range of applications of this technology are presented in this volume, including UCAVS (Unmanned Combat Air Vehicles), micro-air vehicles, UUVs (Unmanned Underwater Vehicles), UGVs (Unmanned Ground Vehicles), planetary exploration, assembly in space, clean-up, and urban search and rescue. This Proceedings Volume represents the contributions of the top researchers in this field and serves as a valuable tool for professionals in this interdisciplinary field.

Download or read book Mechatronics and Automation Technology written by J.-Y. Xu and published by IOS Press. This book was released on 2024-02-27 with total page 696 pages. Available in PDF, EPUB and Kindle. Book excerpt: Mechatronics and automation technology has led to technological change and innovation in all engineering fields, affecting various disciplines, including machine technology, electronics, and computing. It plays a vital role in improving production efficiency, reducing energy consumption and improving product quality and safety, and will be central to the further advancement of technology and industry, bringing convenience and innovation to even more areas. This book presents the proceedings of ICMAT 2023, the 2nd International Conference on Mechatronics and Automation Technology, held as a virtual event on 27 October 2023. The aim of the conference was to provide a platform for scientists, scholars, engineers and researchers from universities and scientific institutes around the world to share the latest research achievements in mechatronics and automation technology, explore key challenges and research directions, and promote the development and application of theory and technology in this field. A total of 121 submissions were received for the conference, of which 77 were ultimately accepted after a rigorous peer-review process. The papers cover a wide range of topics falling within the scope of mechatronics and automation technology, including smart manufacturing; digital manufacturing; additive manufacturing; robotics; sensors; control; electronic and electrical engineering; intelligent systems; and automation technology, as well as other related fields. Providing an overview of recent developments in mechatronics and automation technology, the book will be of interest to all those working in the field.