Download or read book Information theoretic Path Planning and Navigation written by Ali Reza Pedram and published by . This book was released on 2023 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Thanks to the wide availability of low-cost and high-performance sensing devices, obtaining a large amount of sensor data has become easier for robots in many applications. Nevertheless, operating a sensor at full capacity may not be the best strategy for resource-constrained robots, especially if it drains the robot’s scarce power or computational resources with little benefit. As sensor modalities increase, how to achieve a given task with minimum perceptual resources (e.g., with reduced sensing frequencies or sensor gains) becomes an increasingly relevant question. Specially in navigation tasks, it is crucial for autonomous agents to find the path plans which require low perception to be followed. This dissertation proposes a two-stage paradigm to reduce the perception cost in autonomous navigation. In the first stage, referred to as the offline path planning stage, a reference path plan requiring moderate navigation perception is sought in uncertain configuration space (the product space of mean and covariance). In the second stage, the online path following stage, the sensor modalities and closed-loop controller are deployed to closely follow the reference path. In the first phase, we introduce a novel path length function accounting for both travel and the expected perception costs. The continuity of the path length function with respect to the topology of the total variation metric is shown. We formulate the path planning problem as a shortest path problem with respect to the introduced cost conditioned by a collision avoidance constraint. We present sampling-based planning algorithms to solve the formulated shortest path problem and propose several improvements to increase their computational efficiency. Leveraging the continuity of the path length, we prove the proposed algorithms find the optimal path almost surely (with probability one) in the limit of a large number of samples. The first phase ends with a smoothing algorithm developed to eliminate the sharp turns in the paths sought by the sampling-based algorithms. For path smoothing, we devise novel collision avoidance constraints that guarantee safety in continuous-time (in transition between states). This dissertation formulates the path following stage as a joint control-sensing problem and develops an attention mechanism to follow the reference path with minimum perception cost (required bits of information). Several numerical simulations are provided to showcase the utility of the proposed algorithms and paradigm in reducing the perception costs, like the frequency of sensor measurements or the number of sensors that must be used simultaneously in navigation
Download or read book Planning Algorithms written by Steven M. LaValle and published by Cambridge University Press. This book was released on 2006-05-29 with total page 844 pages. Available in PDF, EPUB and Kindle. Book excerpt: Planning algorithms are impacting technical disciplines and industries around the world, including robotics, computer-aided design, manufacturing, computer graphics, aerospace applications, drug design, and protein folding. Written for computer scientists and engineers with interests in artificial intelligence, robotics, or control theory, this is the only book on this topic that tightly integrates a vast body of literature from several fields into a coherent source for teaching and reference in a wide variety of applications. Difficult mathematical material is explained through hundreds of examples and illustrations.
Download or read book Spatial Information Theory written by Kathleen Stewart Hornsby and published by Springer Science & Business Media. This book was released on 2009-09-03 with total page 517 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the refereed proceedings of the 9th International Conference on Spatial Information Theory, COSIT 2009 held in Aber Wrac'h, France in September 2009. The 30 revised full papers were carefully reviewed from 70 submissions. They are organized in topical sections on cognitive processing and models for spatial cognition, semantic modeling, spatial reasoning, spatial cognition, spatial knowledge, scene and visibility modeling, spatial modeling, events and processes, and route planning.
Download or read book Spatial Information Theory written by Stephan Winter and published by Springer. This book was released on 2007-08-26 with total page 468 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the refereed proceedings of the 8th International Conference on Spatial Information Theory, COSIT 2007, held in Melbourne, Australia in September 2007. The 27 revised full papers were carefully reviewed from 102 submissions, and they are organized in topical sections on cultural studies, semantics, similarity, mapping and representation, perception and cognition, reasoning and algorithms, navigation and landmarks, as well as uncertainty and imperfection.
Download or read book Spatial Information Theory written by Sara Irina Fabrikant and published by Springer. This book was released on 2015-09-29 with total page 494 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the proceedings of the 12th International Conference on Spatial Information Theory, COSIT 2015, held in Santa Fee, NM, USA, in October 2015. The 22 papers presented in this book were carefully reviewed and selected from 52 full paper submissions. The following topics are addressed: formalizing and modeling space-time, qualitative spatio-temporal reasoning and representation, language and space, signs, images, maps, and other representations of space, navigations by humans and machines.
Download or read book Spatial Information Theory Foundations of Geographic Information Science written by Daniel R. Montello and published by Springer. This book was released on 2003-06-30 with total page 517 pages. Available in PDF, EPUB and Kindle. Book excerpt: The 5th International Conference on Spatial Information Theory, COSIT 2001, took place at the Inn at Morro Bay, California, USA, September 19 23, 2001. COSIT grew out of a series of workshops/NATO Advanced Study Institutes/NSF Specialist Meetings during the 1990s concerned with theoretical and applied aspects of representing large scale space, particularly geographic or environmental space (this history is elaborated in the prefaces of previous COSIT proceedings). These are spaces in which (and on which) human action takes place, and which are represented and processed in digital geographic information systems. In these early meetings, the need for well founded theories of spatial information representation and processing was identified, particularly theories based on cognition and on computation. This concern for theory provided an early foundation for the newly emerging field of geographic information science. COSIT is not backed by any particular scientific society but is organized as an independent enterprise. The conference series was established in 1993 as an interdisciplinary biennial European conference on the representation and processing of large scale spatial information after a successful international conference on the topic had been organized by Andrew Frank et al. in Pisa in 1992 (frequently referred to as "COSIT 0"). After two successful European COSIT conferences with strong North American participation (COSIT ’93: Island of Elba, Italy; COSIT ’95: Semmering, Austria), COSIT ’97 moved across the pond to the United States, and was held in the Laurel Highlands, Pennsylvania.
Download or read book Recent Advances in Robot Path Planning Algorithms a Review of Theory and Experiment written by Hadi Jahanshahi and published by . This book was released on 2020-03-23 with total page 135 pages. Available in PDF, EPUB and Kindle. Book excerpt: The dominant theme of this book is to introduce the different path planning methods and present some of the most appropriate ones for robotic routing; methods that are capable of running on a variety of robots and are resistant to disturbances; being real-time, being autonomous, and the ability to identify high risk areas and risk management are the other features that will be mentioned in the introduction of the methods. The introduction of the profound significance of the robots and delineation of the navigation and routing theme is provided in the first chapter of the book. The second chapter is concerned with the subject of routing in unknown environments. In the first part of this chapter, the family of bug algorithms including are described. In the following, several conventional methods are submitted. The last part of this chapter is dedicated to the introduction of two recently developed routing methods. In Chapter 3, routing is reviewed in the known environment in which the robot either utilizes the created maps by extraneous sources or makes use of the sensor in order to prepare the maps from the local environment. The robot path planning relying on the robot vision sensors and applicable computing hardware are concentrated in the fourth chapter. The first part of this chapter deals with routing methods supported mapping capabilities. The second part manages the routing dependent on vision sensor typically known as the best sensor within the routing subject. The movement of two-dimensional robots with two or three degrees of freedom is analyzed within the third part of this chapter. In Chapter 5, the performance of a few of the foremost important routing methods initiating from the second to fourth chapters is conferred regarding the implementation in various environments. The first part of this chapter is engaged in the implementation of the algorithms Bug1, Bug2, and Distbug on the pioneering robot. In the second part, a theoretical technique is planned to boost the robot's performance in line with obstacle collision avoidance. This method, underlying the tangential escape, seeks to proceed the robot through various obstacles with curved corners. In the third and fourth parts of this chapter, path planning in different environments is preceded in the absence and the presence of danger space. Accordingly, four approaches, named artificial fuzzy potential field, linguistic technique, Markov decision making processes, and fuzzy Markov decision making have been proposed in two following parts and enforced on the Nao humanoid robot.
Download or read book Spatial Information Theory written by Anthony G. Cohn and published by Springer. This book was released on 2005-09-27 with total page 505 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume contains the papers presented at the "Conference on Spatial Information Theory", held in Ellicottville, New York in September 2005. COSIT 2005 was the 7th International Conference held under the COSIT name.
Download or read book Models for Human Navigation and Optimal Path Planning Using Level Set Methods and Hamilton Jacobi Equations written by Christian Andrew Parkinson and published by . This book was released on 2020 with total page 168 pages. Available in PDF, EPUB and Kindle. Book excerpt: We present several models for different physical scenarios which are centered around human movement or optimal path planning, and use partial differential equations and concepts from control theory. The first model is a game-theoretic model for environmental crime which tracks criminals' movement using the level set method, and improves upon previous continuous models by removing overly restrictive assumptions of symmetry. Next, we design a method for determining optimal hiking paths in mountainous regions using an anisotropic level set equation. After this, we present a model for optimal human navigation with uncertainty which is rooted in dynamic programming and stochastic optimal control theory. Lastly, we consider optimal path planning for simple, self-driving cars in the Hamilton-Jacobi formulation. We improve upon previous models which simplify the car to a point mass, and present a reasonably general upwind, sweeping scheme to solve the relevant Hamilton-Jacobi equation.
Download or read book Spatial Information Theory written by Andrew U. Frank and published by Springer Science & Business Media. This book was released on 1995-09-13 with total page 1074 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the refereed proceedings of the International Conference on Spatial Information Theory, COSIT'95, held near Vienna, Austria, in September 1995. Spatial Information Theory brings together three fields of research of paramount importance for geographic information systems technology, namely spatial reasoning, representation of space, and human understanding of space. The book contains 36 fully revised papers selected from a total of 78 submissions and gives a comprehensive state-of-the-art report on this exciting multidisciplinary - and highly interdisciplinary - area of research and development.
Download or read book Spatial Information Theory written by Max J. Egenhofer and published by Springer Science & Business Media. This book was released on 2011-08-30 with total page 465 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the refereed proceedings of the 10th International Conference on Spatial Information Theory, COSIT 2011, held in Belfast, ME, USA, in September 2011. The 23 revised full papers were carefully reviewed and selected from 55 submissions. They are organized in topical sections on maps and navigation, spatial change, spatial reasoning, spatial cognition and social aspects of space, perception and spatial semantics, and space and language.
Download or read book Introduction to Autonomous Mobile Robots second edition written by Roland Siegwart and published by MIT Press. This book was released on 2011-02-18 with total page 473 pages. Available in PDF, EPUB and Kindle. Book excerpt: The second edition of a comprehensive introduction to all aspects of mobile robotics, from algorithms to mechanisms. Mobile robots range from the Mars Pathfinder mission's teleoperated Sojourner to the cleaning robots in the Paris Metro. This text offers students and other interested readers an introduction to the fundamentals of mobile robotics, spanning the mechanical, motor, sensory, perceptual, and cognitive layers the field comprises. The text focuses on mobility itself, offering an overview of the mechanisms that allow a mobile robot to move through a real world environment to perform its tasks, including locomotion, sensing, localization, and motion planning. It synthesizes material from such fields as kinematics, control theory, signal analysis, computer vision, information theory, artificial intelligence, and probability theory. The book presents the techniques and technology that enable mobility in a series of interacting modules. Each chapter treats a different aspect of mobility, as the book moves from low-level to high-level details. It covers all aspects of mobile robotics, including software and hardware design considerations, related technologies, and algorithmic techniques. This second edition has been revised and updated throughout, with 130 pages of new material on such topics as locomotion, perception, localization, and planning and navigation. Problem sets have been added at the end of each chapter. Bringing together all aspects of mobile robotics into one volume, Introduction to Autonomous Mobile Robots can serve as a textbook or a working tool for beginning practitioners. Curriculum developed by Dr. Robert King, Colorado School of Mines, and Dr. James Conrad, University of North Carolina-Charlotte, to accompany the National Instruments LabVIEW Robotics Starter Kit, are available. Included are 13 (6 by Dr. King and 7 by Dr. Conrad) laboratory exercises for using the LabVIEW Robotics Starter Kit to teach mobile robotics concepts.
Download or read book Spatial Information Theory Foundations of Geographic Information Science written by Werner Kuhn and published by Springer Science & Business Media. This book was released on 2003-09-15 with total page 410 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the refereed proceedings of the International Conference on Spatial Information Theory, COSIT 2003, held at Kartause Ittingen, Switzerland, in September 2003. The 26 revised full papers presented were carefully reviewed and selected from 61 submissions. The papers are organized in topical sections on ontologies of space and time, reasoning about distances and directions, spatial reasoning - shapes and diagrams, computational approaches, reasoning about regions, vagueness, visualization, and landmarks and wayfinding.
Download or read book Principles of Robot Motion written by Howie Choset and published by MIT Press. This book was released on 2005-05-20 with total page 642 pages. Available in PDF, EPUB and Kindle. Book excerpt: A text that makes the mathematical underpinnings of robot motion accessible and relates low-level details of implementation to high-level algorithmic concepts. Robot motion planning has become a major focus of robotics. Research findings can be applied not only to robotics but to planning routes on circuit boards, directing digital actors in computer graphics, robot-assisted surgery and medicine, and in novel areas such as drug design and protein folding. This text reflects the great advances that have taken place in the last ten years, including sensor-based planning, probabalistic planning, localization and mapping, and motion planning for dynamic and nonholonomic systems. Its presentation makes the mathematical underpinnings of robot motion accessible to students of computer science and engineering, rleating low-level implementation details to high-level algorithmic concepts.
Download or read book Mapping Planning and Exploration with Pose SLAM written by Rafael Valencia and published by Springer. This book was released on 2017-06-21 with total page 124 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph introduces a unifying framework for mapping, planning and exploration with mobile robots considering uncertainty, linking such problems with a common SLAM approach, adopting Pose SLAM as the basic state estimation machinery. Pose SLAM is the variant of SLAM where only the robot trajectory is estimated and where landmarks are used to produce relative motion measurements between robot poses. With regards to extending the original Pose SLAM formulation, this monograph covers the study of such measurements when they are obtained with stereo cameras, develops the appropriate noise propagation models for such case, extends the Pose SLAM formulation to SE(3), introduces information-theoretic loop closure tests, and presents a technique to compute traversability maps from the 3D volumetric maps obtained with Pose SLAM. A relevant topic covered in this monograph is the introduction of a novel path planning approach that exploits the modeled uncertainties in Pose SLAM to search for the path in the pose graph that allows the robot to navigate to a given goal with the least probability of becoming lost. Another relevant topic is the introduction of an autonomous exploration method that selects the appropriate actions to drive the robot so as to maximize coverage, while minimizing localization and map uncertainties. This monograph is appropriate for readers interested in an information-theoretic unified perspective to the SLAM, path planning and exploration problems, and is a reference book for people who work in mobile robotics research in general.
Download or read book Robotic Mapping and Exploration written by Cyrill Stachniss and published by Springer. This book was released on 2009-05-06 with total page 206 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Robotic Mapping and Exploration" is an important contribution in the area of simultaneous localization and mapping (SLAM) for autonomous robots, which has been receiving a great deal of attention by the research community in the latest few years. The contents are focused on the autonomous mapping learning problem. Solutions include uncertainty-driven exploration, active loop closing, coordination of multiple robots, learning and incorporating background knowledge, and dealing with dynamic environments. Results are accompanied by a rich set of experiments, revealing a promising outlook toward the application to a wide range of mobile robots and field settings, such as search and rescue, transportation tasks, or automated vacuum cleaning.
Download or read book Robotics Research written by Antonio Bicchi and published by Springer. This book was released on 2017-07-25 with total page 525 pages. Available in PDF, EPUB and Kindle. Book excerpt: ISRR, the "International Symposium on Robotics Research", is one of robotics pioneering Symposia, which has established over the past two decades some of the field's most fundamental and lasting contributions. This book presents the results of the seventeenth edition of "Robotics Research" ISRR15, offering a collection of a broad range of topics in robotics. The content of the contributions provides a wide coverage of the current state of robotics research.: the advances and challenges in its theoretical foundation and technology basis, and the developments in its traditional and new emerging areas of applications. The diversity, novelty, and span of the work unfolding in these areas reveal the field's increased maturity and expanded scope and define the state of the art of robotics and its future direction.
