Pub Date : 1994-09-12DOI: 10.1109/IROS.1994.407653
T. Lüth, T. Längle
In this paper a new intelligent control architecture for autonomous multi-robot systems is presented. Furthermore, the paper deals with task description, task distribution, task allocation and coordination of the system components. The main advantage of the new control architecture is the distributed execution of tasks or subtasks by components of the multi-robot system. The components are able to build teams dynamically thereby avoiding the bottle neck problem of the information flow in centralized controlled architectures. The communication and cooperation between components to achieve distributed organized control architectures is studied. The described intelligent control architecture is to replace the former control architecture of the autonomous robot KAMRO.<>
{"title":"Task description, decomposition, and allocation in a distributed autonomous multi-agent robot system","authors":"T. Lüth, T. Längle","doi":"10.1109/IROS.1994.407653","DOIUrl":"https://doi.org/10.1109/IROS.1994.407653","url":null,"abstract":"In this paper a new intelligent control architecture for autonomous multi-robot systems is presented. Furthermore, the paper deals with task description, task distribution, task allocation and coordination of the system components. The main advantage of the new control architecture is the distributed execution of tasks or subtasks by components of the multi-robot system. The components are able to build teams dynamically thereby avoiding the bottle neck problem of the information flow in centralized controlled architectures. The communication and cooperation between components to achieve distributed organized control architectures is studied. The described intelligent control architecture is to replace the former control architecture of the autonomous robot KAMRO.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117328122","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 : 1994-09-12DOI: 10.1109/IROS.1994.407430
Carlos L. Lück, Sukhan Lee
In this paper we initially present an in-depth analysis of the semi-singularity in terms of its definition, properties and its relationship to the self-motion topology structure in the presence of kinematic constraints. Next, the topology structure is explored as a basis for the design of an algorithm structure suitable to address redundancy resolution and path planning for redundant manipulators in the global sense. The proposed top-down algorithm structure provides a global view of the search space with the help of a connectivity graph in the top layer where path options are obtained for further exploration in the lower layers under a parallelizable framework. A 3-DOF planar manipulator is used to illustrate the methodology and a case study is based on the AAI Arm. The methodology is also appropriate for the implementation of the telemonitoring concept for the kinematic control of redundant manipulators.<>
{"title":"The semi-singularity and a topology-based global path planning approach for redundant manipulators","authors":"Carlos L. Lück, Sukhan Lee","doi":"10.1109/IROS.1994.407430","DOIUrl":"https://doi.org/10.1109/IROS.1994.407430","url":null,"abstract":"In this paper we initially present an in-depth analysis of the semi-singularity in terms of its definition, properties and its relationship to the self-motion topology structure in the presence of kinematic constraints. Next, the topology structure is explored as a basis for the design of an algorithm structure suitable to address redundancy resolution and path planning for redundant manipulators in the global sense. The proposed top-down algorithm structure provides a global view of the search space with the help of a connectivity graph in the top layer where path options are obtained for further exploration in the lower layers under a parallelizable framework. A 3-DOF planar manipulator is used to illustrate the methodology and a case study is based on the AAI Arm. The methodology is also appropriate for the implementation of the telemonitoring concept for the kinematic control of redundant manipulators.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116484155","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 : 1994-09-12DOI: 10.1109/IROS.1994.407399
Margrit Betke, L. Gurvits
We describe an efficient algorithm for localizing a mobile robot in an environment with landmarks. We assume that the robot has a camera and maybe other sensors that enable it to both identify landmarks and measure the angles subtended by these landmarks. We show how to estimate the robot's position using a new technique that involves a complex number representation of the landmarks. Our algorithm runs in time linear in the number of landmarks. We present results of our simulations and propose how to use our method for robot navigation.<>
{"title":"Mobile robot localization using landmarks","authors":"Margrit Betke, L. Gurvits","doi":"10.1109/IROS.1994.407399","DOIUrl":"https://doi.org/10.1109/IROS.1994.407399","url":null,"abstract":"We describe an efficient algorithm for localizing a mobile robot in an environment with landmarks. We assume that the robot has a camera and maybe other sensors that enable it to both identify landmarks and measure the angles subtended by these landmarks. We show how to estimate the robot's position using a new technique that involves a complex number representation of the landmarks. Our algorithm runs in time linear in the number of landmarks. We present results of our simulations and propose how to use our method for robot navigation.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125749517","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 : 1994-09-12DOI: 10.1109/IROS.1994.407361
J. Fox, A. A. Maciejewski
This paper provides a set of algorithms which allow qualitative information regarding the connectivity of configuration space to be quickly established. A mechanism is presented which utilizes these results to determine the effects of the motions of one manipulator on the configuration space of the other. These algorithms are then used as a basis for a simple planner which is capable of rapidly computing collision-free paths for multiple SCARA manipulators operating within overlapping workspaces.<>
{"title":"Utilizing the topology of configuration space in real-time multiple manipulator path planning","authors":"J. Fox, A. A. Maciejewski","doi":"10.1109/IROS.1994.407361","DOIUrl":"https://doi.org/10.1109/IROS.1994.407361","url":null,"abstract":"This paper provides a set of algorithms which allow qualitative information regarding the connectivity of configuration space to be quickly established. A mechanism is presented which utilizes these results to determine the effects of the motions of one manipulator on the configuration space of the other. These algorithms are then used as a basis for a simple planner which is capable of rapidly computing collision-free paths for multiple SCARA manipulators operating within overlapping workspaces.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125895455","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 : 1994-09-12DOI: 10.1109/IROS.1994.407487
A. Zelinsky, Y. Kuniyoshi, H. Tsukune
This paper presents a new scheme of purposive navigation for mobile agents. The new scheme is robust, qualitative and provides a mechanism for combining mapping, planning and mission execution for a mobile agent into a single data structure called the purposive map (PM). The agent can navigate using incomplete and approximate information stored the PM. We present a novel approach to perform obstacle avoidance for a behaviour based robot. Our approach is based on using a physically grounded search while monitoring and co-ordinating behaviours. The physically grounded search exploits stagnation points (local minima) to guide the search for the shortest path to a target. This scheme enables our robot to escape from dead-end situations and allows it to deduce that a target location is unreachable. Simulation results are presented.<>
{"title":"Monitoring and co-ordinating behaviours for purposive robot navigation","authors":"A. Zelinsky, Y. Kuniyoshi, H. Tsukune","doi":"10.1109/IROS.1994.407487","DOIUrl":"https://doi.org/10.1109/IROS.1994.407487","url":null,"abstract":"This paper presents a new scheme of purposive navigation for mobile agents. The new scheme is robust, qualitative and provides a mechanism for combining mapping, planning and mission execution for a mobile agent into a single data structure called the purposive map (PM). The agent can navigate using incomplete and approximate information stored the PM. We present a novel approach to perform obstacle avoidance for a behaviour based robot. Our approach is based on using a physically grounded search while monitoring and co-ordinating behaviours. The physically grounded search exploits stagnation points (local minima) to guide the search for the shortest path to a target. This scheme enables our robot to escape from dead-end situations and allows it to deduce that a target location is unreachable. Simulation results are presented.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125927966","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 : 1994-09-12DOI: 10.1109/IROS.1994.407493
K. Nagatani, S. Yuta
One approach of how to pass through a doorway by a mobile robot is discussed. In this task-oriented approach, the proposed task is to realize a total behavior of opening a door and passing through a doorway for a mobile robot equipped with a manipulator. In this paper, we describe a design of such behavior, and a simulation of the behavior is shown. The key of such behavior is the cooperation between robot's function sub-systems, e.g. the locomotion control system, the manipulator control system and the sensor systems.<>
{"title":"Designing a behavior to open a door and to pass through a door-way using a mobile robot equipped with a manipulator","authors":"K. Nagatani, S. Yuta","doi":"10.1109/IROS.1994.407493","DOIUrl":"https://doi.org/10.1109/IROS.1994.407493","url":null,"abstract":"One approach of how to pass through a doorway by a mobile robot is discussed. In this task-oriented approach, the proposed task is to realize a total behavior of opening a door and passing through a doorway for a mobile robot equipped with a manipulator. In this paper, we describe a design of such behavior, and a simulation of the behavior is shown. The key of such behavior is the cooperation between robot's function sub-systems, e.g. the locomotion control system, the manipulator control system and the sensor systems.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129486947","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 : 1994-09-12DOI: 10.1109/IROS.1994.407408
J. Santamaría, R. Arkin
This paper presents an algorithm that can recognize and localize objects given a model of their contours using only ultrasonic range data. The algorithm exploits a physical model of the ultrasonic beam and combines several readings to extract outline object segments from the environment. It then detects patterns of outline segments that correspond to predefined models of object contours, performing both object recognition and localization. The algorithm is robust since it can account for noise and inaccurate readings as well as efficient since it uses a relaxation technique that can incorporate new data incrementally without recalculating from scratch.<>
{"title":"Model-based echolocation of environmental objects","authors":"J. Santamaría, R. Arkin","doi":"10.1109/IROS.1994.407408","DOIUrl":"https://doi.org/10.1109/IROS.1994.407408","url":null,"abstract":"This paper presents an algorithm that can recognize and localize objects given a model of their contours using only ultrasonic range data. The algorithm exploits a physical model of the ultrasonic beam and combines several readings to extract outline object segments from the environment. It then detects patterns of outline segments that correspond to predefined models of object contours, performing both object recognition and localization. The algorithm is robust since it can account for noise and inaccurate readings as well as efficient since it uses a relaxation technique that can incorporate new data incrementally without recalculating from scratch.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128405026","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 : 1994-09-12DOI: 10.1109/IROS.1994.407599
V. Lumelsky, S. Tiwari
This paper is concerned with motion planning for a mobile robot operating in a planar environment with multiple arbitrarily moving obstacles. The robot and obstacles are rigid bodies of arbitrary shapes. All rigid motion-rotation and translation-is considered for the obstacles; the robot can move only by translation. The robot has no advance information about the obstacles' shapes or motion, and obtains information about the surrounding environment from its sensors, in real time. Necessary and sufficient conditions are derived under which collision-free motion of the robot to its target position can be guaranteed. Namely, it is shown that if the maximum velocity of the robot is bounded below by a multiple of the maximum allowable velocity of the obstacles, then a provable motion planning algorithm can be devised. The constant multiple in this bound takes into account the nonconvexity of the obstacles and a bound on the (minimal) distance between any obstacle and the robot's target position.<>
{"title":"Velocity bounds for motion planning in the presence of moving planar obstacles","authors":"V. Lumelsky, S. Tiwari","doi":"10.1109/IROS.1994.407599","DOIUrl":"https://doi.org/10.1109/IROS.1994.407599","url":null,"abstract":"This paper is concerned with motion planning for a mobile robot operating in a planar environment with multiple arbitrarily moving obstacles. The robot and obstacles are rigid bodies of arbitrary shapes. All rigid motion-rotation and translation-is considered for the obstacles; the robot can move only by translation. The robot has no advance information about the obstacles' shapes or motion, and obtains information about the surrounding environment from its sensors, in real time. Necessary and sufficient conditions are derived under which collision-free motion of the robot to its target position can be guaranteed. Namely, it is shown that if the maximum velocity of the robot is bounded below by a multiple of the maximum allowable velocity of the obstacles, then a provable motion planning algorithm can be devised. The constant multiple in this bound takes into account the nonconvexity of the obstacles and a bound on the (minimal) distance between any obstacle and the robot's target position.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128504963","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 : 1994-09-12DOI: 10.1109/IROS.1994.407411
E. Freund, J. Roßmann, J. Uthoff, U. V. D. Valk
In this paper a new approach to realistic simulation of robotic workcells in industrial manufacturing processes is presented, in which the workcell is composed of different classes of objects like robots, AGVs, conveyor-belts and sensors. The presented simulation system is directed to the areas of offline-programming and workcell layout. The novel approach described includes the embedding of an industrial robot controller into the simulation system by means of a versatile message-based interface and the use of a sophisticated environment model for intuitive simulation of grip and release operations, conveyor-belts and sensors. This is combined with a graphical 3D-visualization of the workcell in real-time and a windows-oriented interface based upon widely spread GUIs on PCs and UNIX-workstations.<>
{"title":"Towards realistic simulation of robotic workcells","authors":"E. Freund, J. Roßmann, J. Uthoff, U. V. D. Valk","doi":"10.1109/IROS.1994.407411","DOIUrl":"https://doi.org/10.1109/IROS.1994.407411","url":null,"abstract":"In this paper a new approach to realistic simulation of robotic workcells in industrial manufacturing processes is presented, in which the workcell is composed of different classes of objects like robots, AGVs, conveyor-belts and sensors. The presented simulation system is directed to the areas of offline-programming and workcell layout. The novel approach described includes the embedding of an industrial robot controller into the simulation system by means of a versatile message-based interface and the use of a sophisticated environment model for intuitive simulation of grip and release operations, conveyor-belts and sensors. This is combined with a graphical 3D-visualization of the workcell in real-time and a windows-oriented interface based upon widely spread GUIs on PCs and UNIX-workstations.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129580920","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 : 1994-09-12DOI: 10.1109/IROS.1994.407421
J. Janét, R. Luo, M. Kay
A motion planning and self-referencing approach has been developed, simulated and applied to an actual robot. Although there are several novelties to these approaches, the fact that both are based on traversability vectors (t-vectors) is one aspect of this research that is unique. Through their application it has been found that t-vectors enhance the detection of path obstructions and geometric beacons and expedite the identification of features that are visible (or hearable) to sensors in both static and dynamic environments. T-vectors also reduce the data size and complexity of standard V-graphs and variations thereof. This paper provides the t-vector models step-by-step so that the reader will be able to apply them to mobile robot motion planning and self-referencing.<>
{"title":"T-vectors make autonomous mobile robot motion planning and self-referencing more efficient","authors":"J. Janét, R. Luo, M. Kay","doi":"10.1109/IROS.1994.407421","DOIUrl":"https://doi.org/10.1109/IROS.1994.407421","url":null,"abstract":"A motion planning and self-referencing approach has been developed, simulated and applied to an actual robot. Although there are several novelties to these approaches, the fact that both are based on traversability vectors (t-vectors) is one aspect of this research that is unique. Through their application it has been found that t-vectors enhance the detection of path obstructions and geometric beacons and expedite the identification of features that are visible (or hearable) to sensors in both static and dynamic environments. T-vectors also reduce the data size and complexity of standard V-graphs and variations thereof. This paper provides the t-vector models step-by-step so that the reader will be able to apply them to mobile robot motion planning and self-referencing.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130784405","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}
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