Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)最新文献
Pub Date : 2001-10-29DOI: 10.1109/IROS.2001.977149
H. Tanner, S. Loizou, K. Kyriakopoulos
This paper presents a motion planner and nonholonomic controller for a mobile robot, with global collision avoidance and convergence properties. An appropriately designed (dipolar) potential field is combined with discontinuous state feedback. A new class of Lyapunov functions is introduced and used for nonholonomic navigation. The obstacle avoidance and global asymptotic stability properties are verified through simulations.
{"title":"Nonholonomic stabilization with collision avoidance for mobile robots","authors":"H. Tanner, S. Loizou, K. Kyriakopoulos","doi":"10.1109/IROS.2001.977149","DOIUrl":"https://doi.org/10.1109/IROS.2001.977149","url":null,"abstract":"This paper presents a motion planner and nonholonomic controller for a mobile robot, with global collision avoidance and convergence properties. An appropriately designed (dipolar) potential field is combined with discontinuous state feedback. A new class of Lyapunov functions is introduced and used for nonholonomic navigation. The obstacle avoidance and global asymptotic stability properties are verified through simulations.","PeriodicalId":319679,"journal":{"name":"Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)","volume":"451 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120878422","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2001-10-29DOI: 10.1109/IROS.2001.976406
P. Petrov, P. Bigras
This paper proposes a feedback path controller for an articulated load-haul-dump (LHD) mining vehicle. First, we develop a kinematic model of the vehicle in error coordinates expressed in a moving reference frame, which is partially linked to the vehicle. We give a change of coordinates and input combined with a new variable instead of the time-index that transform the original system into a form that can be viewed as a perturbation of a nominal linear time-invariant system. The nonlinear term in the perturbed system satisfies a linear growth bound. Subsequently, linear control feedback is applied to the full nonlinear system and local exponential stability of the closed-loop perturbed system is achieved. Simulation results illustrate the effectiveness of the proposed controller.
{"title":"A practical approach to feedback path control for an articulated mining vehicle","authors":"P. Petrov, P. Bigras","doi":"10.1109/IROS.2001.976406","DOIUrl":"https://doi.org/10.1109/IROS.2001.976406","url":null,"abstract":"This paper proposes a feedback path controller for an articulated load-haul-dump (LHD) mining vehicle. First, we develop a kinematic model of the vehicle in error coordinates expressed in a moving reference frame, which is partially linked to the vehicle. We give a change of coordinates and input combined with a new variable instead of the time-index that transform the original system into a form that can be viewed as a perturbation of a nominal linear time-invariant system. The nonlinear term in the perturbed system satisfies a linear growth bound. Subsequently, linear control feedback is applied to the full nonlinear system and local exponential stability of the closed-loop perturbed system is achieved. Simulation results illustrate the effectiveness of the proposed controller.","PeriodicalId":319679,"journal":{"name":"Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)","volume":"357 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121534980","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2001-10-29DOI: 10.1109/IROS.2001.977220
Rafael García, X. Cufí, M. Carreras
When underwater vehicles perform navigation close to the ocean floor, computer vision techniques can be applied to obtain quite accurate motion estimates. The most crucial step in the vision-based estimation of the vehicle motion consists on detecting matchings between image pairs. Here we propose the extensive use of texture analysis as a tool to ameliorate the correspondence problem in underwater images. Once a robust set of correspondences has been found, the three-dimensional motion of the vehicle can be computed with respect to the bed of the sea. Finally, motion estimates allow the construction of a map that could aid to the navigation of the robot.
{"title":"Estimating the motion of an underwater robot from a monocular image sequence","authors":"Rafael García, X. Cufí, M. Carreras","doi":"10.1109/IROS.2001.977220","DOIUrl":"https://doi.org/10.1109/IROS.2001.977220","url":null,"abstract":"When underwater vehicles perform navigation close to the ocean floor, computer vision techniques can be applied to obtain quite accurate motion estimates. The most crucial step in the vision-based estimation of the vehicle motion consists on detecting matchings between image pairs. Here we propose the extensive use of texture analysis as a tool to ameliorate the correspondence problem in underwater images. Once a robust set of correspondences has been found, the three-dimensional motion of the vehicle can be computed with respect to the bed of the sea. Finally, motion estimates allow the construction of a map that could aid to the navigation of the robot.","PeriodicalId":319679,"journal":{"name":"Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124150212","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2001-10-29DOI: 10.1109/IROS.2001.976354
Kuk-jin Yoon, In-So Kweon
For the fast and accurate self-localization of mobile robots, landmarks can be used very efficiently in the complex workspace. In this paper, we propose a simple color landmark model for self-localization and a fast landmark detection and tracking algorithm based on the proposed landmark model. We develop a color landmark with symmetric and repetitive structures, which shows invariant color histogram characteristics under some geometric distortions. Detection and tracking of the model are accomplished by a factored sampling technique in which color similarity is estimated by the color histogram intersection. We also use the color similarity to update the color histogram model of the landmark model for robust tracking under illumination change. We demonstrate the feasibility of the proposed technique through experiments in cluttered indoor environments.
{"title":"Artificial landmark tracking based on the color histogram","authors":"Kuk-jin Yoon, In-So Kweon","doi":"10.1109/IROS.2001.976354","DOIUrl":"https://doi.org/10.1109/IROS.2001.976354","url":null,"abstract":"For the fast and accurate self-localization of mobile robots, landmarks can be used very efficiently in the complex workspace. In this paper, we propose a simple color landmark model for self-localization and a fast landmark detection and tracking algorithm based on the proposed landmark model. We develop a color landmark with symmetric and repetitive structures, which shows invariant color histogram characteristics under some geometric distortions. Detection and tracking of the model are accomplished by a factored sampling technique in which color similarity is estimated by the color histogram intersection. We also use the color similarity to update the color histogram model of the landmark model for robust tracking under illumination change. We demonstrate the feasibility of the proposed technique through experiments in cluttered indoor environments.","PeriodicalId":319679,"journal":{"name":"Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126477549","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2001-10-29DOI: 10.1109/IROS.2001.976361
R. Colbrunn, G. Nelson, R. Quinn
Braided pneumatic actuators exhibit non-linear force-length properties grossly similar to muscle, and have a high strength-to-weight ratio. These properties make them desirable for legged robots. The work emphasizes understanding the actuator properties for later use in simulation and control of legged robots. Static and dynamic mathematical models for the actuators are reported and verified through testing and simulation. In addition, a dynamic air flow model modulated by a solenoid valve was developed to provide modular actuation subroutines for simulation.
{"title":"Modeling of braided pneumatic actuators for robotic control","authors":"R. Colbrunn, G. Nelson, R. Quinn","doi":"10.1109/IROS.2001.976361","DOIUrl":"https://doi.org/10.1109/IROS.2001.976361","url":null,"abstract":"Braided pneumatic actuators exhibit non-linear force-length properties grossly similar to muscle, and have a high strength-to-weight ratio. These properties make them desirable for legged robots. The work emphasizes understanding the actuator properties for later use in simulation and control of legged robots. Static and dynamic mathematical models for the actuators are reported and verified through testing and simulation. In addition, a dynamic air flow model modulated by a solenoid valve was developed to provide modular actuation subroutines for simulation.","PeriodicalId":319679,"journal":{"name":"Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127916795","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2001-10-29DOI: 10.1109/IROS.2001.977195
O. Pizarro, Hanumant Singh, S. Lerner
This paper examines the role of image-based navigation in the context of characterizing the standard long baseline navigation used by underwater vehicles for survey applications. Our work is based on looking at the displacement estimate that can be derived from registering overlapping imagery of the seafloor. Our approach is realistic in that it does not require large overlap and in that it can handle translational and rotational motions between image pairs in an unstructured terrain. We demonstrate our approach on a photographic survey conducted by the Argo towed vehicle covering several square kilometers off of Guam in the Pacific Ocean over a period of almost two months.
{"title":"Towards image-based characterization of acoustic navigation","authors":"O. Pizarro, Hanumant Singh, S. Lerner","doi":"10.1109/IROS.2001.977195","DOIUrl":"https://doi.org/10.1109/IROS.2001.977195","url":null,"abstract":"This paper examines the role of image-based navigation in the context of characterizing the standard long baseline navigation used by underwater vehicles for survey applications. Our work is based on looking at the displacement estimate that can be derived from registering overlapping imagery of the seafloor. Our approach is realistic in that it does not require large overlap and in that it can handle translational and rotational motions between image pairs in an unstructured terrain. We demonstrate our approach on a photographic survey conducted by the Argo towed vehicle covering several square kilometers off of Guam in the Pacific Ocean over a period of almost two months.","PeriodicalId":319679,"journal":{"name":"Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127928482","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2001-10-29DOI: 10.1109/IROS.2001.973345
Wesley H. Huang, G. Holden
Manipulation is a key capability for mobile robots to perform a greater variety of useful tasks. We consider mobile robots equipped with low degree-of-freedom "palm manipulators." The advantage of using this sort of nonprehensile (i.e. nongrasping) manipulator is its simplicity and versatility. Although in general multiple robots may be needed, the initial work described in the paper considers only a single robot. We formulate the mechanical analysis for manipulating objects and describe a planner for a single robot with a palm manipulator. We conclude with details of our experimental implementation and preliminary results.
{"title":"Nonprehensile palmar manipulation with a mobile robot","authors":"Wesley H. Huang, G. Holden","doi":"10.1109/IROS.2001.973345","DOIUrl":"https://doi.org/10.1109/IROS.2001.973345","url":null,"abstract":"Manipulation is a key capability for mobile robots to perform a greater variety of useful tasks. We consider mobile robots equipped with low degree-of-freedom \"palm manipulators.\" The advantage of using this sort of nonprehensile (i.e. nongrasping) manipulator is its simplicity and versatility. Although in general multiple robots may be needed, the initial work described in the paper considers only a single robot. We formulate the mechanical analysis for manipulating objects and describe a planner for a single robot with a palm manipulator. We conclude with details of our experimental implementation and preliminary results.","PeriodicalId":319679,"journal":{"name":"Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127982687","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2001-10-29DOI: 10.1109/IROS.2001.976357
A. Kelly
Vehicle odometry is a nonlinear dynamical system in echelon form. Accordingly, a general solution can be written by solving the nonlinear equations in the correct order. Another implication of this structure is that a completely general solution to the linearized (perturbative) dynamics exists. The associated vector convolution integral is the general relationship between the output error and both the input error and reference trajectory. Solutions for errors in individual coordinates are in the form of line integrals in state space. Response to initial conditions and translational scale errors, among others, is path independent and vanishes on all closed trajectories. Response to other errors is path dependent and can be reduced to expressions in error moments of the reference trajectory. These path dependent errors vanish on closed symmetric paths, among others. These theoretical results and the underlying error expressions have many uses in design, calibration, and evaluation of odometry systems.
{"title":"General solution for linearized systematic error propagation in vehicle odometry","authors":"A. Kelly","doi":"10.1109/IROS.2001.976357","DOIUrl":"https://doi.org/10.1109/IROS.2001.976357","url":null,"abstract":"Vehicle odometry is a nonlinear dynamical system in echelon form. Accordingly, a general solution can be written by solving the nonlinear equations in the correct order. Another implication of this structure is that a completely general solution to the linearized (perturbative) dynamics exists. The associated vector convolution integral is the general relationship between the output error and both the input error and reference trajectory. Solutions for errors in individual coordinates are in the form of line integrals in state space. Response to initial conditions and translational scale errors, among others, is path independent and vanishes on all closed trajectories. Response to other errors is path dependent and can be reduced to expressions in error moments of the reference trajectory. These path dependent errors vanish on closed symmetric paths, among others. These theoretical results and the underlying error expressions have many uses in design, calibration, and evaluation of odometry systems.","PeriodicalId":319679,"journal":{"name":"Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128175500","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2001-10-29DOI: 10.1109/IROS.2001.977170
David Liu, L. Fu
The probabilistic data association (PDA) filter is considered for the tracking of a single target in an environment of randomly distributed clutters. Significant performance degradation occurs when the measurements originate from biased and nearly stationary clutters rather than a non-stationary nor non-biased one. We propose a modified PDA filter to achieve a successful tracking in such an environment. Simulation results demonstrate the feasibility of the proposed approach.
{"title":"Target tracking in an environment of nearly stationary and biased clutter","authors":"David Liu, L. Fu","doi":"10.1109/IROS.2001.977170","DOIUrl":"https://doi.org/10.1109/IROS.2001.977170","url":null,"abstract":"The probabilistic data association (PDA) filter is considered for the tracking of a single target in an environment of randomly distributed clutters. Significant performance degradation occurs when the measurements originate from biased and nearly stationary clutters rather than a non-stationary nor non-biased one. We propose a modified PDA filter to achieve a successful tracking in such an environment. Simulation results demonstrate the feasibility of the proposed approach.","PeriodicalId":319679,"journal":{"name":"Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)","volume":"56 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131957258","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2001-10-29DOI: 10.1109/IROS.2001.977231
B. J. Unger, A. Nicolaidis, P. Berkelman, A. Thompson, R. Klatzky, R. Hollis
We describe an experimental arrangement for comparison of user performance during a real and a virtual 3D peg-in-hole task. Tasks are performed using a unique six-degree-of-freedom (6-DOF) magnetic levitation haptic device. The arrangement allows a user to exert and experience real and virtual forces using the same 6-DOF device. During the virtual task, a peg and hole are rendered haptically, and visual feedback is provided through a graphical display. During the real task, a physical peg is attached to the underside of the haptic device. Using only real forces/torques, the peg is inserted into a hole in a plate attached to a force/torque sensor, while positions/orientations are measured by the haptic device. positions/orientations and forces/torques are recorded for both modes. Preliminary results indicate increased task time, larger total forces and more failures occur with the virtual task. Recorded data reveal user strategies that are similar for both tasks. Quantitative analysis of the strategies employed should lead to identification of significant factors in haptic interface design and haptic rendering techniques.
{"title":"Comparison of 3-D haptic peg-in-hole tasks in real and virtual environments","authors":"B. J. Unger, A. Nicolaidis, P. Berkelman, A. Thompson, R. Klatzky, R. Hollis","doi":"10.1109/IROS.2001.977231","DOIUrl":"https://doi.org/10.1109/IROS.2001.977231","url":null,"abstract":"We describe an experimental arrangement for comparison of user performance during a real and a virtual 3D peg-in-hole task. Tasks are performed using a unique six-degree-of-freedom (6-DOF) magnetic levitation haptic device. The arrangement allows a user to exert and experience real and virtual forces using the same 6-DOF device. During the virtual task, a peg and hole are rendered haptically, and visual feedback is provided through a graphical display. During the real task, a physical peg is attached to the underside of the haptic device. Using only real forces/torques, the peg is inserted into a hole in a plate attached to a force/torque sensor, while positions/orientations are measured by the haptic device. positions/orientations and forces/torques are recorded for both modes. Preliminary results indicate increased task time, larger total forces and more failures occur with the virtual task. Recorded data reveal user strategies that are similar for both tasks. Quantitative analysis of the strategies employed should lead to identification of significant factors in haptic interface design and haptic rendering techniques.","PeriodicalId":319679,"journal":{"name":"Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129986529","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)
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