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Proceedings of the First Euromicro Workshop on Advanced Mobile Robots (EUROBOT '96)最新文献

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Recognition using frequency sweep sonar 使用扫频声纳识别
Pub Date : 1996-10-09 DOI: 10.1109/EURBOT.1996.551880
G. Lindstedt
This paper describes the use of arbitrarily chosen transmission signals (e.g. frequency sweeps) in a pulse-echo sonar system. An experimental platform has been built where software generated signals can be loaded into a transmission unit and echoes can be sampled and analyzed by the software. The current experiments utilizes electrostatic transducer elements. The multi-frequency measurement methods in sonar systems gives a much larger statistical material than those using a single frequency. Standing wave phenomena that may result in a zero amplitude at a certain frequency and distance do not deteriorate the measurement since the frequency is varied. Multi-frequency methods can be applied to pure distance measurements as well as to more complicated tasks. An experiment where the system is used for recognition is described.
本文描述了在脉冲回波声纳系统中使用任意选择的传输信号(如扫频)。搭建了一个实验平台,将软件产生的信号装入传输单元,利用软件对回波进行采样和分析。目前的实验采用静电换能器元件。声纳系统中的多频测量方法比单频测量方法提供的统计资料要大得多。驻波现象在一定频率和距离上可能导致振幅为零,但由于频率是变化的,因此不会影响测量结果。多频方法既可以用于纯距离测量,也可以用于更复杂的任务。描述了一个将该系统用于识别的实验。
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引用次数: 4
Cellular automata in robot path planning 元胞自动机在机器人路径规划中的应用
Pub Date : 1996-10-09 DOI: 10.1109/EURBOT.1996.551890
F. Marchese
Cellular automata model is a powerful instrument used in many applications. In this paper we present an algorithm based on cellular automata for the path planning of a simple rigid body in a planar workspace with obstacles well known a priori. The environment model is realized with a regular decomposition in cells of predefined regular shape. The object has an orientation and has the limitation of moving forward on a smoothed trajectory without stopping and turning in place and with a minimum radius of curvature. We have implemented different versions of the algorithm, showing different properties of the model. The method is illustrated on examples with different characteristics to demonstrate the possibility of use on a real robot in a real environment.
元胞自动机模型是一种强大的工具,应用于许多领域。本文提出了一种基于元胞自动机的简单刚体在具有已知先验障碍物的平面工作空间中的路径规划算法。环境模型是通过对预定义的规则形状的单元进行规则分解来实现的。物体有一个方向,并且有在平滑轨迹上向前移动的限制,没有停止和原地转弯,曲率半径最小。我们实现了不同版本的算法,显示了模型的不同属性。通过不同特征的实例说明了该方法在真实环境中应用于真实机器人的可能性。
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引用次数: 23
MOPS, a system for mail distribution in office type buildings MOPS,一种在办公楼里分发邮件的系统
Pub Date : 1996-10-09 DOI: 10.1109/EURBOT.1996.551894
S. J. Vestli, N. Tschichold-Gurman
This paper describes the new mobile post system (MOPS) developed at the Institute of Robotics, Swiss Federal Institute of Technology. This mobile service robot operates in a building containing several research institutes and various other institutions. The MOPS has the task of distributing the incoming mail (letters and small parcels collected in boxes) from a central post station to the various institutes and to collect the outgoing mail from the said institutes on its return journey back to the central post station. In this paper we describe the task in detail as well as our solutions to such diverse problems as: collision free and robust navigation, position update, position control, communication with building infrastructure, range sensing and mobile manipulation. The MOPS is currently undergoing extensive field testing.
本文介绍了瑞士联邦理工学院机器人研究所开发的新型移动岗位系统(MOPS)。这个移动服务机器人在一个包含几个研究机构和各种其他机构的大楼里工作。邮政署的任务是将从中央邮局寄来的邮件(信件和装在盒子里的小包裹)分发到各研究所,并收集从这些研究所寄回中央邮局的寄出邮件。在本文中,我们详细描述了我们的任务以及解决方案,如:无碰撞和鲁棒导航,位置更新,位置控制,与建筑基础设施的通信,距离传感和移动操作。MOPS目前正在进行广泛的现场测试。
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引用次数: 14
ADAM: adaptive autonomous machine 亚当:自适应自主机器
Pub Date : 1996-10-09 DOI: 10.1109/EURBOT.1996.551893
D.C. van Oosten, L.F.J. Nijenhuis, A. Bakkers, W. Vervoort
This paper describes a part of the development of an adaptive autonomous machine that is able to move in an unknown world extract knowledge out of the perceived data, has the possibility to reason, and finally has the capability to exchange experiences and knowledge with other agents. The agent is not pre-programmed by its designer but was given simple rules of life, i.e. what is good and what is bad. By evaluating its sensor inputs these rules of life were transformed into a rule based reactive system. Simulations of the system showed that the agent is able to learn by its own experience. By representing the learned knowledge in an appropriate way, the acquired knowledge could be judged on its effectiveness and also this knowledge could be shared with other, less experienced agents.
本文描述了一种自适应自主机器的一部分开发,该机器能够在未知世界中移动,从感知数据中提取知识,具有推理的可能性,并最终具有与其他智能体交换经验和知识的能力。智能体不是由其设计者预先编程的,而是被赋予了简单的生活规则,即什么是好,什么是坏。通过评估其传感器输入,这些生命规则被转化为基于规则的反应系统。仿真结果表明,智能体能够根据自身经验进行学习。通过以适当的方式表示所学到的知识,可以判断所获得的知识的有效性,并且可以与其他经验不足的代理共享这些知识。
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引用次数: 1
Perception of an underwater structure for inspection and guidance purpose 为检查和引导目的而对水下结构的感知
Pub Date : 1996-10-09 DOI: 10.1109/EURBOT.1996.551877
G. Tascini, P. Zingaretti, G. Conte, S. Zanoli
The application described here concerns the detection and the real-time tracking of submarine pipelines from a sequence of underwater images acquired from TV-cameras mounted on a remote operated vehicle (ROV). The problem involves both perception and robotics, in that sensory-motion data are to be acquired and dynamically used for subsequent actions by the system. The basic processing concerns the extraction of the pipe contours which are returned as two straight lines. Motion effects on acquired images have been reduced using a Kalman filter for integrating multiple measurements over time. The filter, positioned at the output of the image processing system improves the precision in the computation of the straight line equations with a little overload. This work is originated from the interest of Snamprogetti in enhancing the level of automation in submarine pipeline inspection.
这里描述的应用涉及到从安装在远程操作车辆(ROV)上的电视摄像机获取的一系列水下图像中检测和实时跟踪海底管道。这个问题涉及到感知和机器人技术,因为感官运动数据需要被获取,并动态地用于系统的后续行动。基本处理涉及管道轮廓的提取,这些轮廓被返回为两条直线。运动对获得的图像的影响已经减少了使用卡尔曼滤波器积分多个测量随着时间的推移。该滤波器位于图像处理系统的输出端,提高了直线方程的计算精度,同时减小了过载。这项工作源于smnamprogetti对提高海底管道检测自动化水平的兴趣。
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引用次数: 3
Fusion of sensor data in a dynamic representation 传感器数据的动态融合
Pub Date : 1996-10-09 DOI: 10.1109/EURBOT.1996.551875
M. Piaggio, A. Sgorbissa, Gianni Vercelli, R. Zaccaria
The task of moving a robot in a complex and totally or partially unknown environment involves the construction of a suitable representation of the robot's surroundings. This paper proposes an analogical statistical representation of the world the robot moves in. Its construction, updating and usage is described, focusing on the techniques used for the integration of sensor data and on their fusion with a priori information about the environment. An additional mechanism that allows the map to be efficiently transmitted to a remote workstation, connected using a radio link, has also been envisaged. Thus the computational load of map related processes can be distributed, taking advantage of the remote station's computational power. The experimental setup and some results obtained are also illustrated.
在一个复杂的、完全或部分未知的环境中移动机器人的任务包括构建一个合适的机器人周围环境的表示。本文提出了机器人运动世界的类比统计表示。描述了它的构建、更新和使用,重点介绍了用于传感器数据集成的技术以及它们与环境先验信息的融合。还设想了另一种机制,使地图能够有效地传送到使用无线电链路连接的远程工作站。这样就可以分配地图相关过程的计算负荷,充分利用远程站点的计算能力。文中还介绍了实验装置和实验结果。
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引用次数: 12
Multi-strategic approach for robot path planning 机器人路径规划的多策略方法
Pub Date : 1996-10-09 DOI: 10.1109/EURBOT.1996.551889
G. Bianco, R. Cassinis
The paper presents a proposal for an autonomous robot path planning system that uses several strategies to reach a target also in an a-priori unknown environment. The proposed method has learning capabilities that allow the robot to take advantage of previous experience, thus improving its performance during successive traveling in the same environment. The proposed multistrategic approach has been tested both on a software simulator and on a real robot.
本文提出了一种自主机器人路径规划系统,该系统在先验未知环境中使用多种策略到达目标。该方法具有学习能力,使机器人能够利用先前的经验,从而提高其在同一环境中连续行进的性能。所提出的多策略方法已在软件模拟器和真实机器人上进行了测试。
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引用次数: 5
Real-time phase-based stereo for a mobile robot 移动机器人的实时相位立体声
Pub Date : 1996-10-09 DOI: 10.1109/EURBOT.1996.552018
T. Frohlinghaus, J. Buhmann
The performance of a mobile robot crucially depends on the accuracy, duration and reliability of its sensor interpretation. A major source of information are CCD-cameras which provide a detailed view of the robot's environment. This paper presents a real-time stereo algorithm implemented on the mobile robot RHINO of the University of Bonn. The algorithm exploit the phases of wavelet-filtered image pairs to localize edges and to estimate their disparities with subpixel accuracy. The disparities are computed by an initial search for corresponding points within a given interval and a subsequent measurement of phase-differences. The real-time constraints of autonomous object detection and navigation are fulfilled by partially implementing the stereo algorithm on a pipeline computer Datacube. Experimental results on real world scenes under real world conditions demonstrate the stereo algorithm's robustness and suitability for autonomous robot applications.
移动机器人的性能关键取决于其传感器解释的准确性、持续时间和可靠性。信息的主要来源是ccd摄像机,它提供了机器人环境的详细视图。本文介绍了在德国波恩大学的移动机器人RHINO上实现的实时立体视觉算法。该算法利用小波滤波图像对的相位进行边缘定位,并以亚像素精度估计其差值。差值是通过在给定区间内对相应点的初始搜索和随后的相位差测量来计算的。通过在流水线计算机Datacube上部分实现立体算法,实现了自主目标检测和导航的实时性约束。在真实场景下的实验结果证明了该算法的鲁棒性和适用性。
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引用次数: 13
AMOS: comparison of scan matching approaches for self-localization in indoor environments AMOS:室内环境下自定位的扫描匹配方法比较
Pub Date : 1996-10-09 DOI: 10.1109/EURBOT.1996.551882
Jens-Steffen Gutmann, Christian Schlegel
This paper describes results from evaluating different self-localization approaches in indoor environments for mobile robots. The algorithms examined are based on 2D laser scans and an odometry position estimate and do not need any modifications in the environment. An important requirement for the self-localization is the ability to cope with office-like environments as well as with environments without orthogonal and rectilinear walls. Furthermore, the approaches have to be robust enough to cope with slight modifications in the daily environment and should be fast enough to be used online on board of the robot system. To fulfil these requirements we made some extensions to the existing approaches and combined them in a suitable manner. Real world experiments with our robot within the everyday environment of our institute show that the position error can be kept small enough to perform navigation tasks.
本文描述了移动机器人在室内环境中不同自定位方法的评估结果。所测试的算法基于二维激光扫描和里程计位置估计,不需要在环境中进行任何修改。对自我定位的一个重要要求是能够应对类似办公室的环境以及没有正交和直线墙壁的环境。此外,这些方法必须足够健壮,以应对日常环境中的微小变化,并且应该足够快,以便在机器人系统上在线使用。为了满足这些需求,我们对现有方法进行了一些扩展,并以合适的方式将它们组合起来。我们的机器人在我们研究所的日常环境中进行的真实世界实验表明,位置误差可以保持在足够小的范围内,以执行导航任务。
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引用次数: 287
Learning behaviours in a modular neural net architecture for a mobile autonomous agent 移动自主智能体模块化神经网络体系结构中的学习行为
Pub Date : 1996-10-09 DOI: 10.1109/EURBOT.1996.551886
R. M. Rylatt, C. Czarnecki, T. Routen
The relatively new idea of decomposing the intelligent agent problem into behaviours rather than cognitive functions has had early success but doubts have arisen concerning the validity of its basic building blocks. It may still be worth retaining the idea that intelligent behaviour can be achieved through the accretion of modules each having a tight loop between perception and action but modules based on neural networks may have more potential. One approach that has been demonstrated is to train each module to achieve ifs individual competence. But although explicit teaching may play a part, a more interesting approach is to allow the agent to learn behaviours by interacting directly with the task environment. This paper presents a modular neural net architecture CRILL for the autonomous control of a mobile agent using a form of reinforcement learning. An experiment is described in which CRILL navigates through a simulated environment by seeking a series of light sources. The potential of the CRILL approach is assessed as a way of decomposing a complex goal and simplifying the construction of individual neural nets.
将智能代理问题分解为行为而不是认知功能的相对较新的想法已经取得了早期的成功,但人们对其基本构建模块的有效性产生了怀疑。智能行为可以通过模块的增加来实现,每个模块在感知和行动之间都有一个紧密的循环,但基于神经网络的模块可能有更多的潜力,这一想法仍然值得保留。一种已被证明的方法是训练每个模块实现其个人能力。但是,尽管明确的教学可能发挥了作用,但更有趣的方法是允许代理通过直接与任务环境互动来学习行为。本文提出了一种模块化神经网络体系结构CRILL,用于使用强化学习的形式对移动智能体进行自主控制。在一个实验中描述了CRILL通过寻找一系列光源在模拟环境中导航。CRILL方法的潜力被评估为一种分解复杂目标和简化单个神经网络构建的方法。
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引用次数: 3
期刊
Proceedings of the First Euromicro Workshop on Advanced Mobile Robots (EUROBOT '96)
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