Download or read book Multi Robot Guided Autonomy for Indoor Exploration written by and published by . This book was released on 2008 with total page 8 pages. Available in PDF, EPUB and Kindle. Book excerpt: The effective use of multiple Unmanned Ground Vehicles (UGVs) in an indoor environment can be challenging due to the several environmental and technical constraints. It becomes more challenging when a single operator is required to manage more than one UGV. Hence, there is a need to look into how this can be effectively addressed and to develop the necessary approaches to testing and selecting the solutions. One approach is to develop guided autonomy capabilities to reduce the amount of operator interaction. This paper presents work done to develop a system to provide multi-robot guided autonomy for enhancing the performance in indoor exploration. The general focus of the effort was to design an Operator Control Unit (OCU) with Human-Robot Interaction (HRI) considerations to address operator loading issues as well as waypoint navigation and obstacle avoidance capabilities to enable guided autonomy. The system was design to allow a single operator to manage two UGVs. User trials were conducted throughout the development phase to iteratively improve the designs. The results were promising and future work will look at developing task level autonomy to further reduce operator workload and enhancing OCU interface design for operational use.
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 Distributed Autonomous Robotic Systems written by Alcherio Martinoli and published by Springer. This book was released on 2012-09-05 with total page 615 pages. Available in PDF, EPUB and Kindle. Book excerpt: Distributed robotics is a rapidly growing, interdisciplinary research area lying at the intersection of computer science, communication and control systems, and electrical and mechanical engineering. The goal of the Symposium on Distributed Autonomous Robotic Systems (DARS) is to exchange and stimulate research ideas to realize advanced distributed robotic systems. This volume of proceedings includes 43 original contributions presented at the Tenth International Symposium on Distributed Autonomous Robotic Systems (DARS 2010), which was held in November 2010 at the École Polytechnique Fédérale de Lausanne (EPFL), Switzerland. The selected papers in this volume are authored by leading researchers from Asia, Europa, and the Americas, thereby providing a broad coverage and perspective of the state-of-the-art technologies, algorithms, system architectures, and applications in distributed robotic systems. The book is organized into four parts, each representing one critical and long-term research thrust in the multi-robot community: distributed sensing (Part I); localization, navigation, and formations (Part II); coordination algorithms and formal methods (Part III); modularity, distributed manipulation, and platforms (Part IV).
Download or read book Robot Vision written by Stefan Florczyk and published by Wiley-VCH. This book was released on 2005-03-04 with total page 224 pages. Available in PDF, EPUB and Kindle. Book excerpt: The book is intended for advanced students in physics, mathematics, computer science, electrical engineering, robotics, engine engineering and for specialists in computer vision and robotics on the techniques for the development of vision-based robot projects. It focusses on autonomous and mobile service robots for indoor work, and teaches the techniques for the development of vision-based robot projects. A basic knowledge of informatics is assumed, but the basic introduction helps to adjust the knowledge of the reader accordingly. A practical treatment of the material enables a comprehensive understanding of how to handle specific problems, such as inhomogeneous illumination or occlusion. With this book, the reader should be able to develop object-oriented programs and show mathematical basic understanding. Such topics as image processing, navigation, camera types and camera calibration structure the described steps of developing further applications of vision-based robot projects.
Download or read book Autonomous Mobile Robots and Multi Robot Systems written by Eugene Kagan and published by John Wiley & Sons. This book was released on 2019-12-16 with total page 340 pages. Available in PDF, EPUB and Kindle. Book excerpt: Offers a theoretical and practical guide to the communication and navigation of autonomous mobile robots and multi-robot systems This book covers the methods and algorithms for the navigation, motion planning, and control of mobile robots acting individually and in groups. It addresses methods of positioning in global and local coordinates systems, off-line and on-line path-planning, sensing and sensors fusion, algorithms of obstacle avoidance, swarming techniques and cooperative behavior. The book includes ready-to-use algorithms, numerical examples and simulations, which can be directly implemented in both simple and advanced mobile robots, and is accompanied by a website hosting codes, videos, and PowerPoint slides Autonomous Mobile Robots and Multi-Robot Systems: Motion-Planning, Communication and Swarming consists of four main parts. The first looks at the models and algorithms of navigation and motion planning in global coordinates systems with complete information about the robot’s location and velocity. The second part considers the motion of the robots in the potential field, which is defined by the environmental states of the robot's expectations and knowledge. The robot's motion in the unknown environments and the corresponding tasks of environment mapping using sensed information is covered in the third part. The fourth part deals with the multi-robot systems and swarm dynamics in two and three dimensions. Provides a self-contained, theoretical guide to understanding mobile robot control and navigation Features implementable algorithms, numerical examples, and simulations Includes coverage of models of motion in global and local coordinates systems with and without direct communication between the robots Supplemented by a companion website offering codes, videos, and PowerPoint slides Autonomous Mobile Robots and Multi-Robot Systems: Motion-Planning, Communication and Swarming is an excellent tool for researchers, lecturers, senior undergraduate and graduate students, and engineers dealing with mobile robots and related issues.
Download or read book Autonomous Control Systems and Vehicles written by Kenzo Nonami and published by Springer Science & Business Media. This book was released on 2013-05-30 with total page 306 pages. Available in PDF, EPUB and Kindle. Book excerpt: The International Conference on Intelligent Unmanned Systems 2011 was organized by the International Society of Intelligent Unmanned Systems and locally by the Center for Bio-Micro Robotics Research at Chiba University, Japan. The event was the 7th conference continuing from previous conferences held in Seoul, Korea (2005, 2006), Bali, Indonesia (2007), Nanjing, China (2008), Jeju, Korea (2009), and Bali, Indonesia (2010). ICIUS 2011 focused on both theory and application, primarily covering the topics of robotics, autonomous vehicles, intelligent unmanned technologies, and biomimetics. We invited seven keynote speakers who dealt with related state-of-the-art technologies including unmanned aerial vehicles (UAVs) and micro air vehicles (MAVs), flapping wings (FWs), unmanned ground vehicles (UGVs), underwater vehicles (UVs), bio-inspired robotics, advanced control, and intelligent systems, among others. This book is a collection of excellent papers that were updated after presentation at ICIUS2011. All papers that form the chapters of this book were reviewed and revised from the perspective of advanced relevant technologies in the field. The aim of this book is to stimulate interactions among researchers active in the areas pertinent to intelligent unmanned systems.
Download or read book Market driven Multi robot Exploration written by Robert Zlot and published by . This book was released on 2002 with total page 13 pages. Available in PDF, EPUB and Kindle. Book excerpt: Abstract: "For many real-world applications, autonomous robots must execute complex tasks in unknown or partially known unstructured environments. This work presents a novel approach to efficient multi-robot mapping and exploration which exploits a market architecture in order to maximize information gain while minimizing incurred costs. This system is reliable and robust in that it can accommodate dynamic introduction and loss of team members in addition to communication interruptions and failures. Results showing the capabilities of our system on a team of exploring autonomous robots are also given."
Download or read book Robotic Communication and Coordination for Autonomous Exploration written by Torsten André and published by Sudwestdeutscher Verlag Fur Hochschulschriften AG. This book was released on 2017-06-02 with total page 160 pages. Available in PDF, EPUB and Kindle. Book excerpt: Mobile multi-robot systems may be deployed in environments initially unknown to them. Their efficient operation requires detailed maps of their surroundings. The robot system charts the environment during initial exploration. Multiple robots collaborate to speed up the exploration by distributing the exploration area. They form a mobile ad hoc network enabling coordination and the exchange of map information. The multi-robot system described herein is fully self-organizing. It does not rely on a central controller increasing scalability and robustness. Scalability allows deployments in large environments such as industry complexes or ramified cave systems. The performance of the system, determined by the time required to fully explore an environment, benefits from integration of additional explorers. By allowing a fully connected robot system to split into multiple independently operating teams, robots may cover larger areas more quickly. Two forms to establish connectivity are discussed: robots may serve as stationary relays forming a multi-hop network. Alternatively, relay robots may carry data between communication end-points freeing robots to support exploration.
Download or read book Efficient Cooperative Multirobot Team Search in Complex Indoor Environments written by Monica Delaine Anderson and published by . This book was released on 2007 with total page 260 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Distributed Autonomous Robotic Systems written by Roderich Groß and published by Springer. This book was released on 2018-03-13 with total page 697 pages. Available in PDF, EPUB and Kindle. Book excerpt: Distributed robotics is an interdisciplinary and rapidly growing area, combining research in computer science, communication and control systems, and electrical and mechanical engineering. Distributed robotic systems can autonomously solve complex problems while operating in highly unstructured real-world environments. They are expected to play a major role in addressing future societal needs, for example, by improving environmental impact assessment, food supply, transportation, manufacturing, security, and emergency and rescue services. The goal of the International Symposium on Distributed Autonomous Robotic Systems (DARS) is to provide a forum for scientific advances in the theory and practice of distributed autonomous robotic systems. This volume of proceedings include 47 original contributions presented at the 13th International Symposium on Distributed Autonomous Robotic Systems (DARS 2016), which was held at the Natural History Museum in London, UK, from November 7th to 9th, 2016. The selected papers in this volume are authored by leading researchers from around the world, thereby providing a broad coverage and perspective of the state-of-the-art technologies, algorithms, system architectures, and applications in distributed robotic systems. The book is organized into seven parts, representative of critical long-term and emerging research thrusts in the multi-robot community: Distributed Coverage and Exploration; Multi-Robot Control; Multi-Robot Estimation; Multi-Robot Planning; Modular Robots and Smart Materials; Swarm Robotics; and Multi-Robot Systems in Applications.
Download or read book Behaviour Based Autonomous Mobile Robot Exploration in Indoor Environment written by Jin Guan Ng and published by . This book was released on 2006 with total page 62 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Multi Autonomous Robot Exploration System M A R E S written by Aleksandar Stefanovski and published by . This book was released on 2002 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Spatial Representation and Reasoning for Robot Mapping written by Diedrich Wolter and published by Springer Science & Business Media. This book was released on 2008-07-23 with total page 199 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book demonstrates bene?ts of abstract and qualitative reasoning that have not received much attention in the context of autonomous robotics before. Bremen, Christian Freksa December 2007 Director of the SFB/TR 8 Spatial Cognition Preface This book addresses spatial representations and reasoning techniques for - bile robot mapping, providing an analysis of fundamental representations and processes involved. A spatial representation based on shape information is p- posed and shape analysis techniques are developed to tackle the correspondence problem in robot mapping. A general mathematical formulation is presented to provide the formal ground for an e?cient matching of con?gurations of objects. This book is a slightly revised version of my doctoral thesis submitted to the Faculty of Mathematics and Computer Science of the University of Bremen, Germany. Manycontributeto the developmentofa dissertation,butsomeofthemstand out. Christian Freksa, I thank you for supporting and encouraging my work, for introducing me to interdisciplinary work, for giving me the freedom to develop this dissertation, and for providing an enjoyable atmosphere to work in. Longin Jan Latecki, thank you for countless in-depth discussions helping me to develop andtopositionmywork,forthefruitfulcollaboration,andformakingaresearch stay possible that has been very valuable to me. I thank the research groups in Bremen and Philadelphia for helpful discussions and feedback, in particular Jan Oliver Wallgrun. ̈ I also thank Kai-Florian Richter, Sven Bertel, and Lutz Frommberger for feedback on this work. Robert Ross, thank you for helping to proof-read this dissertation.
Download or read book Autonomous Mobile Robot Indoor Navigation Using Multi sensor Integration written by Hui Tang and published by . This book was released on 2014 with total page 402 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Distributed Autonomous Robotic Systems 4 written by L.E. Parker and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 478 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Fifth International Symposium on Distributed Autonomous Robotic Systems (DARS 2000) dealt with new strategies to realize complex, modular, robust, and fault-tolerant robotic systems. Technologies, algorithms, and system architectures for distributed autonomous robotic systems were presented and discussed during the meeting. DARS 2000 was truly an international event, with participants represent ing eleven countries from Europe, Asia, and the Americas. All of the papers in this volume were presented at DARS 2000, and were selected on the basis of peer re views to ensure quality and relevance. These papers have the common goal of con tributing solutions to realize robust and intelligent multirobot systems. The topics of the symposium address a wide range of issues that are important in the development of decentralized robotic systems. These topics include architec tures, communication, biological inspirations, reconfigurable robots, localization, exploration and mapping, distributed sensing, multi robot motion coordination, tar get assignment and tracking, multirobot learning, and cooperative object transport. DARS clearly requires a broad area of interdisciplinary technologies related not only to robotics and computer engineering, but also to biology and psychology. The DARS symposium is the leading established conference on distributed au tonomous systems. The First, Second, and Third International Symposia on Distrib uted Autonomous Robotic Systems (DARS '92, DARS '94, and DARS '96) were held at the Institute of Physical and Chemical Research (RIKEN), Saitama, Japan.
Download or read book A Robust and Efficient Autonomous Exploration Methodology of Unknown Environments for Multi robot Systems written by Lillian Goodwin and published by . This book was released on 2022 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Multi-robot systems can provide effective solutions for exploring and inspecting environments where it is unpractical or unsafe for humans, however, adequate coordination of the multi-robot system is a challenging initiative. A robust and efficient methodology for exploration of unknown environments is presented using a k-means method to improve traditional task allocation schemes. The k-means method proposed is an efficient technique due to the algorithm's quick convergence time and its ability to segment a previously unknown map in a logical manner. In this method, a global executive receives frontiers from local robots, filters them, clusters them using the k-means method, and then reassigns them to the agents. A framework is developed in Robot Operating System (ROS) to test the effectiveness of the k-means method. The method is tested over a series of simulations and real-world tests, where it provided significant reductions in exploration time and distance travelled compared to other methods.
Download or read book Computational Science and Its Applications ICCSA 2015 written by Osvaldo Gervasi and published by Springer. This book was released on 2015-06-19 with total page 798 pages. Available in PDF, EPUB and Kindle. Book excerpt: The five-volume set LNCS 9155-9159 constitutes the refereed proceedings of the 15th International Conference on Computational Science and Its Applications, ICCSA 2015, held in Banff, AB, Canada, in June 2015. The 232 revised full papers presented in 22 workshops and a general track were carefully reviewed and selected from 780 initial submissions for inclusion in this volume. They cover various areas in computational science ranging from computational science technologies to specific areas of computational science such as computational geometry and security.
