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  • Articles  (28)
  • mobile robots  (28)
  • Springer  (28)
  • American Chemical Society
  • 1995-1999  (28)
  • Computer Science  (28)
  • 1
    Electronic Resource
    Electronic Resource
    Embedded systemsvs individualism (1995)
    Springer
    Minds and machines 5 (1995), S. 357-371 
    Details
    ISSN: 1572-8641
    Keywords: Action ; anti-individualism ; artificial agents ; child development ; computation ; embedded systems ; environmentalism ; formality condition ; individualism ; learning algorithms ; mobile robots ; representation
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science , Philosophy
    Notes: Abstract The dispute between individualism and anti-individualism is about the individuation of psychological states, and individualism, on some accounts, is committed to the claim that psychological subjects together with their environments do not constitute integrated computational systems. Hence on this view the computational states that explain psychological states in computational accounts of mind will not involve the subject's natural and social environment. Moreover, the explanation of a system's interaction with the environment is, on this view, not the primary goal of computational theorizing. Recent work in computational developmental psychology (by A. Karmiloff-Smith and J. Rutkowska) as well as artificial agents or embedded artificial systems (by L.P. Kaelbling, among others) casts doubt on these claims. In these computational models, the environment does not just trigger and sustain input for computational operations, but some computational operations actually involve environmental structures.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1007/BF00974750
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  • 2
    Electronic Resource
    Electronic Resource
    Decentralized Fuzzy Control of Multiple Nonholonomic Vehicles (1999)
    Springer
    Journal of intelligent and robotic systems 26 (1999), S. 65-70 
    Details
    ISSN: 1573-0409
    Keywords: fuzzy logic ; mobile robots ; decentralized ; linear quadratic ; group behavior ; cooperative robotics ; Kalman estimation
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract This work considers the problem of controlling multiple nonholonomic vehicles so that they converge to a scent source without colliding with each other. Since the control is to be implemented on a simple 8-bit microcontroller, fuzzy control rules are used to simplify a linear quadratic regulator control design. The inputs to the fuzzy controllers for each vehicle are the noisy direction to the source, the distance to the closest neighbor vehicle, and the direction to the closest vehicle. These directions are discretized into four values: forward, behind, left, and right; and the distance into three values: near, far, and gone. The values of the control at these discrete values are obtained based on the collision-avoidance repulsive forces and an attractive force towards the goal. A fuzzy inference system is used to obtain control values from a small number of discrete input values. Simulation results are provided which demonstrate that the fuzzy control law performs well compared to the exact controller. In fact, the fuzzy controller demonstrates improved robustness to noise.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1023/A:1008178504755
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  • 3
    Electronic Resource
    Electronic Resource
    An Application Platform for the Development and Experimental Validation of Mobile Robots for Health Care Purposes (1998)
    Springer
    Journal of intelligent and robotic systems 22 (1998), S. 331-350 
    Details
    ISSN: 1573-0409
    Keywords: health care ; mobile robots ; experimental platform ; simulation techniques ; optical sensing ; neural network ; rapid prototyping ; robotics
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract This paper describes an Application Platform for the development and testing of mobile robot units. Within this platform, various applications addressing different aspects of robot development are composed into an experimental environment. The Application Platform comprises modules such as a Neural Networks Simulator, a simulation and off-line programming system, optical sensor components, a rapid prototyping system, and an experimental workcell. Each of these modules is described in detail including its integration with the other modules. In conclusion, the potential use of this platform for health care tasks is indicated.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1023/A:1007945702881
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  • 4
    Electronic Resource
    Electronic Resource
    Robust Practical Point Stabilization of a Nonholonomic Mobile Robot Using Neural Networks (1997)
    Springer
    Journal of intelligent and robotic systems 20 (1997), S. 295-317 
    Details
    ISSN: 1573-0409
    Keywords: nonholonomic systems ; mobile robots ; neural networks
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract A control structure that makes possible the integration of a kinematiccontroller and a neural network (NN) computed-torque controller fornonholonomic mobile robots is presented. A combined kinematic/torque controllaw is developed and stability is guaranteed by Lyapunov theory. Thiscontrol algorithm is applied to the practical point stabilization problemi.e., stabilization to a small neighborhood of the origin. The NN controllercan deal with unmodeled bounded disturbances and/or unstructured unmodeleddynamics in the vehicle. On-line NN weight tuning algorithms that do notrequire off-line learning yet guarantee small tracking errors and boundedcontrol signals are utilized.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1023/A:1007916529436
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  • 5
    Electronic Resource
    Electronic Resource
    Sensing under Uncertainty for Mobile Robots (1999)
    Springer
    Journal of intelligent and robotic systems 25 (1999), S. 1-25 
    Details
    ISSN: 1573-0409
    Keywords: mobile robots ; uncertainty modeling ; distributed control ; sensing
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract In this work we present a control strategy under uncertainty for mobile robot navigation. In particular, we implement a server-client model, where the server executes the commands and the clients run in parallel, each performing its tasks. Tolerance analysis is performed to incorporate sensing uncertainties into the proposed model. The sensory system is depicted with a framework that allows different levels of data representation, based on the robust modeling of the sensing uncertainties.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1023/A:1008017225391
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  • 6
    Electronic Resource
    Electronic Resource
    A Probabilistic Approach to Concurrent Mapping and Localization for Mobile Robots (1998)
    Springer
    Machine learning 31 (1998), S. 29-53 
    Details
    ISSN: 0885-6125
    Keywords: Bayes rule ; expectation maximization ; mobile robots ; navigation ; localization ; mapping ; maximum likelihood estimation ; positioning ; probabilistic reasoning
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science
    Notes: Abstract This paper addresses the problem of building large-scale geometric maps of indoor environments with mobile robots. It poses the map building problem as a constrained, probabilistic maximum-likelihood estimation problem. It then devises a practical algorithm for generating the most likely map from data, along with the most likely path taken by the robot. Experimental results in cyclic environments of size up to 80 by 25 meter illustrate the appropriateness of the approach.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1023/A:1007436523611
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  • 7
    Electronic Resource
    Electronic Resource
    Bayesian Landmark Learning for Mobile Robot Localization (1998)
    Springer
    Machine learning 33 (1998), S. 41-76 
    Details
    ISSN: 0885-6125
    Keywords: artificial neural networks ; Bayesian analysis ; feature extraction ; landmarks ; localization ; mobile robots ; positioning
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science
    Notes: Abstract To operate successfully in indoor environments, mobile robots must be able to localize themselves. Most current localization algorithms lack flexibility, autonomy, and often optimality, since they rely on a human to determine what aspects of the sensor data to use in localization (e.g., what landmarks to use). This paper describes a learning algorithm, called BaLL, that enables mobile robots to learn what features/landmarks are best suited for localization, and also to train artificial neural networks for extracting them from the sensor data. A rigorous Bayesian analysis of probabilistic localization is presented, which produces a rational argument for evaluating features, for selecting them optimally, and for training the networks that approximate the optimal solution. In a systematic experimental study, BaLL outperforms two other recent approaches to mobile robot localization.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1023/A:1007554531242
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  • 8
    Electronic Resource
    Electronic Resource
    Training a Vision Guided Mobile Robot (1998)
    Springer
    Machine learning 31 (1998), S. 201-222 
    Details
    ISSN: 0885-6125
    Keywords: mobile robots ; neural networks ; machine vision ; robot learning
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science
    Notes: Abstract This paper presents the design, implementation and evaluation of a trainable vision guided mobile robot. The robot, CORGI, has a CCD camera as its only sensor which it is trained to use for a variety of tasks. The techniques used for train ing and the choice of natural light vision as the primary sensor makes the methodology immediately applicable to tasks such as trash collection or fruit picking. For example, the robot is readily trained to perform a ball finding task which involves avoiding obstacles and aligning with tennis balls. The robot is able to move at speeds up to 0.8 ms-1 while performing this task, and has never had a collision in the trained environment. It can process video and update the actuators at 11 Hz using a single $20 microprocessor to perform all computation. Further results are shown to evaluate the system for generalization across unseen domains, fault tolerance and dynamic environments.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1023/A:1007405111315
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  • 9
    Electronic Resource
    Electronic Resource
    A complete navigation system for goal acquisition in unknown environments (1995)
    Springer
    Autonomous robots 2 (1995), S. 127-145 
    Details
    ISSN: 1573-7527
    Keywords: mobile robots ; path planning ; obstacle detection ; map building
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract Most autonomous outdoor navigation systems tested on actual robots have centered on local navigation tasks such as avoiding obstacles or following roads. Global navigation has been limited to simple wandering, path tracking, straight-line goal seeking behaviors, or executing a sequence of scripted local behaviors. These capabilities are insufficient for unstructured and unknown environments, where replanning may be needed to account for new information discovered in every sensor image. To address these problems, we have developed a complete system that integrates local and global navigation. The local system uses a scanning laser rangefinder to detect obstacles and recommend steering commands to ensure robot safety. These obstacles are passed to the global system which stores them in a map of the environment. With each addition to the map, the global system uses an incremental path planning algorithm to optimally replan the global path and recommend steering commands to reach the goal. An arbiter combines the steering recommendations to achieve the proper balance between safety and goal acquisition. This system was tested on a real robot and successfully drove it 1.4 kilometers to find a goal given no a priori map of the environment.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1007/BF00735431
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  • 10
    Electronic Resource
    Electronic Resource
    Towards principled experimental study of autonomous mobile robots (1995)
    Springer
    Autonomous robots 2 (1995), S. 179-189 
    Details
    ISSN: 1573-7527
    Keywords: autonomy ; mobile robots ; navigation ; experiments ; statistics
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract We review the current state of research in autonomous mobile robots and conclude that there is an inadequate basis for predicting the reliability and behavior of robots operating in unengineered environments. We present a new approach to the study of autonomous mobile robot performance based on formal statistical analysis of independently reproducible experiments conducted on real robots. Simulators serve as models rather than experimental surrogates. We demonstrate three new results: 1) Two commonly used performance metrics (time and distance) are not as well correlated as is often tacitly assumed. 2) The probability distributions of these performance metrics are exponential rather than normal, and 3) a modular, object-oriented simulation accurately predicts the behavior of the real robot in a statistically significant manner.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1007/BF00710855
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  • 11
    Electronic Resource
    Electronic Resource
    Mars microrover navigation: Performance evaluation and enhancement (1995)
    Springer
    Autonomous robots 2 (1995), S. 291-311 
    Details
    ISSN: 1573-7527
    Keywords: mobile robots ; Mars exploration ; obstacle avoidance ; performance evaluation
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract In 1996, NASA will launch the Mars Pathfinder spacecraft, which will carry an 11 kg rover to explore the immediate vicinity of the lander. To assess the capabilities of the rover, as well as to set priorities for future rover research, it is essential to evaluate the performance of its autonomous navigation system as a function of terrain characteristics. Unfortunately, very little of this kind of evaluation has been done, for either planetary rovers or terrestrial applications. To fill this gap, we have constructed a new microrover testbed consisting of the Rocky 3.2 vehicle and an indoor test arena with overhead cameras for automatic, real-time tracking of the true rover position and heading. We create Mars analog terrains in this arena by randomly distributing rocks according to an exponential model of Mars rock size frequency created from Viking lander imagery. To date, we have recorded detailed logs from over 85 navigation trials in this testbed. In this paper, we outline current plans for Mars exploration over the next decade, summarize the design of the lander and rover for the 1996 Pathfinder mission, and introduce a decomposition of rover navigation into four major functions: goal designation, rover localization, hazard detection, and path selection. We then describe the Pathfinder approach to each function, present results to date of evaluating the performance of each function, and outline our approach to enhancing performance for future missions. The results show key limitations in the quality of rover localization, the speed of hazard detection, and the ability of behavior control algorithms for path selection to negotiate the rock frequencies likely to be encountered on Mars. We believe that the facilities, methodologies, and to some extent the specific performance results presented here will provide valuable examples for efforts to evaluate robotic vehicle performance in other applications.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1007/BF00710796
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  • 12
    Electronic Resource
    Electronic Resource
    Planetary exploration by robotic aerovehicles (1995)
    Springer
    Autonomous robots 2 (1995), S. 261-282 
    Details
    ISSN: 1573-7527
    Keywords: balloons ; mobile robots ; planetary exploration ; navigation ; aerobot
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract Planetary aerobots are a new type of telerobotic science platform that can fly and navigate in a dynamic 3-dimensional atmospheric environment, thus enabling the global in situ exploration of planetary atmospheres and surfaces. Aerobots are enabled by a new concept in planetary balloon altitude control, developed at JPL, which employs reversible-fluid changes to permit repeated excursions in altitude. The essential physics and thermodynamics ofreversible-fluid altitude control have been demonstrated in a series of altitude-control experiments conducted in the Earth's atmosphere, which are described. Aerobot altitude-control technology will be important in the exploration of seven planets and satellites in our solar system. Three of these objects—Venus, Mars, and the Saturnian satellite Titan—have accessible solid surfaces and atmospheres dominated by the dense gases nitrogen or carbon dioxide. They will be explored with aerobots using helium or hydrogen as their primary means of buoyancy. The other four planets—Jupiter, Saturn, Uranus, and Neptune—have deep atmospheres that are predominantly hydrogen. It may be possible to explore these atmospheres with aerobots inflated with atmospheric gas that is then radiatively heated from the hotter gaseous depths below. To fulfill their potential, aerobots to explore the planets will need autonomous state estimators to guide their observations and provide information to the altitude-control systems. The techniques of acquiring these data remotely are outlined. Aerobots will also use on board altitude control and navigation systems to execute complex flight paths including descent to the surface and exploiting differential wind velocities to access different latitude belts. Approaches to control of these systems are examined. The application of aerobots to Venus exploration is explored in some detail: The most ambitious mission described, the Venus Flyer Robot (VFR), would have the capability to make repeated short excursions to the high-temperature surface environment of Venus to acquire data and then return to the Earth-like upper atmosphere to communicate and recool its electronic systems. Finally a Planetary Aerobot Testbed is discussed which will conduct Earth atmospheric flights to validate autonomous-state-estimator techniques and flight-path-control techniques needed for future planetary missions.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1007/BF00710794
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  • 13
    Electronic Resource
    Electronic Resource
    Planetary exploration by a mobile robot: Mission teleprogramming and autonomous navigation (1995)
    Springer
    Autonomous robots 2 (1995), S. 333-344 
    Details
    ISSN: 1573-7527
    Keywords: mobile robots ; mission teleprogramming ; autonomous navigation
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract Sending mobile robots to accomplish planet exploration missions is scientifically promising and technologically challenging. We present in this paper a complete approach that encompasses the major aspects involved in the design of a robotic system for planetary exploration. It includes mission teleprogramming and supervision at a ground station, and autonomous mission execution by the remote mobile robot. We have partially implemented and validated these concepts. Experimental results illustrate the approach and the results.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1007/BF00710798
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  • 14
    Electronic Resource
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    Cooperative Mobile Robotics: Antecedents and Directions (1997)
    Springer
    Autonomous robots 4 (1997), S. 7-27 
    Details
    ISSN: 1573-7527
    Keywords: cooperative robotics ; swarm intelligence ; distributed robotics ; artificial intelligence ; mobile robots ; multiagent systems
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract There has been increased research interest in systems composed of multiple autonomous mobile robots exhibiting cooperative behavior. Groups of mobile robots are constructed, with an aim to studying such issues as group architecture, resource conflict, origin of cooperation, learning, and geometric problems. As yet, few applications of cooperative robotics have been reported, and supporting theory is still in its formative stages. In this paper, we give a critical survey of existing works and discuss open problems in this field, emphasizing the various theoretical issues that arise in the study of cooperative robotics. We describe the intellectual heritages that have guided early research, as well as possible additions to the set of existing motivations.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1023/A:1008855018923
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  • 15
    Electronic Resource
    Electronic Resource
    Task Modelling in Collective Robotics (1997)
    Springer
    Autonomous robots 4 (1997), S. 53-72 
    Details
    ISSN: 1573-7527
    Keywords: collective robotics ; multirobot system ; mobile robots
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract Does coherent collective behaviour require an explicit mechanism of cooperation? In this paper, we demonstrate that a certain class of cooperative tasks, namely coordinated box manipulation, are possible without explicit communication or cooperation mechanisms. The approach relies on subtask decomposition and sensor preprocessing. A framework is proposed for modelling multi-robot tasks which are described as a series of steps with each step possibly consisting of substeps. Finite state automata theory is used to model steps with state transitions specified as binary sensing predicates called perceptual cues. A perceptual cue (Q), whose computation is disjoint from the operation of the automata, is processed by a 3-level finite state machine called a Q-machine. The model is based on entomological evidence that suggests local stimulus cues are used to regulate a linear series of building acts in nest construction. The approach is designed for a redundant set of homogeneous mobile robots, and described is an extension of a previous system of 5 box-pushing robots to 11 identical transport robots. Results are presented for a system of physical robots capable of moving a heavy object collectively to an arbitrarily specified goal position. The contribution is a simple task-programming paradigm for mobile multi-robot systems. It is argued that Q-machines and their perceptual cues offer a new approach to environment-specific task modelling in collective robotics.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1023/A:1008859119831
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  • 16
    Electronic Resource
    Electronic Resource
    A Probabilistic Approach to Concurrent Mapping and Localization for Mobile Robots (1998)
    Springer
    Autonomous robots 5 (1998), S. 253-271 
    Details
    ISSN: 1573-7527
    Keywords: Bayes rule ; expectation maximization ; mobile robots ; navigation ; localization ; mapping ; maximum likelihood estimation ; positioning ; probabilistic reasoning
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract This paper addresses the problem of building large-scale geometric maps of indoor environments with mobile robots. It poses the map building problem as a constrained, probabilistic maximum-likelihood estimation problem. It then devises a practical algorithm for generating the most likely map from data, along with the most likely path taken by the robot. Experimental results in cyclic environments of size up to 80×25 m illustrate the appropriateness of the approach.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1023/A:1008806205438
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  • 17
    Electronic Resource
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    Training a Vision Guided Mobile Robot (1998)
    Springer
    Autonomous robots 5 (1998), S. 381-394 
    Details
    ISSN: 1573-7527
    Keywords: mobile robots ; neural networks ; machine vision ; robot learning
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract This paper presents the design, implementation and evaluation of a trainable vision guided mobile robot. The robot, CORGI, has a CCD camera as its only sensor which it is trained to use for a variety of tasks. The techniques used for training and the choice of natural light vision as the primary sensor makes the methodology immediately applicable to tasks such as trash collection or fruit picking. For example, the robot is readily trained to perform a ball finding task which involves avoiding obstacles and aligning with tennis balls. The robot is able to move at speeds up to 0.8 ms-1 while performing this task, and has never had a collision in the trained environment. It can process video and update the actuators at 11 Hz using a single $20 microprocessor to perform all computation. Further results are shown to evaluate the system for generalization across unseen domains, fault tolerance and dynamic environments.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1023/A:1008870625003
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  • 18
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    Traversability Analysis and Path Planning for a Planetary Rover (1999)
    Springer
    Autonomous robots 6 (1999), S. 131-146 
    Details
    ISSN: 1573-7527
    Keywords: mobile robots ; sensor fusion ; terrain mapping ; obstacle avoidance ; uncertainty
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract A method of analyzing three-dimensional data such as might be produced by stereo vision or a laser range finder in order to plan a path for a vehicle such as a Mars rover is described. In order to produce robust results from data that is sparse and of varying accuracy, the method takes into account the accuracy of each data point, as represented by its covariance matrix. It computes estimates of smoothed and interpolated height, slope, and roughness at equally spaced horizontal intervals, as well as accuracy estimates of these quantities. From this data, a cost function is computed that takes into account both the distance traveled and the probability that each region is traversable. A parallel search algorithm that finds the path of minimum cost also is described. Examples using real data are presented.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1023/A:1008831426966
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  • 19
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    Integrating Exploration, Localization, Navigation and Planning with a Common Representation (1999)
    Springer
    Autonomous robots 6 (1999), S. 293-308 
    Details
    ISSN: 1573-7527
    Keywords: mobile robots ; localization ; planning ; navigation ; exploration ; evidence grids ; integration
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract Two major themes of our research include the creation of mobile robot systems that are robust and adaptive in rapidly changing environments, and the view of integration as a basic research issue. Where reasonable, we try to use the same representations to allow different components to work more readily together and to allow better and more natural integration of and communication between these components. In this paper, we describe our most recent work in integrating mobile robot exploration, localization, navigation, and planning through the use of a common representation, evidence grids.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1023/A:1008936413435
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  • 20
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    New Visual Invariants for Terrain Navigation Without 3D Reconstruction (1998)
    Springer
    International journal of computer vision 28 (1998), S. 45-71 
    Details
    ISSN: 1573-1405
    Keywords: autonomous vehicles ; mobile robots ; obstacle detection ; optical flow ; image motion ; visual navigation ; purposive vision
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science
    Notes: Abstract For autonomous vehicles to achieve terrain navigation, obstacles must be discriminated from terrain before any path planning and obstacle avoidance activity is undertaken. In this paper, a novel approach to obstacle detection has been developed. The method finds obstacles in the 2D image space, as opposed to 3D reconstructed space, using optical flow. Our method assumes that both nonobstacle terrain regions, as well as regions with obstacles, will be visible in the imagery. Therefore, our goal is to discriminate between terrain regions with obstacles and terrain regions without obstacles. Our method uses new visual linear invariants based on optical flow. Employing the linear invariance property, obstacles can be directly detected by using reference flow lines obtained from measured optical flow. The main features of this approach are: (1) 2D visual information (i.e., optical flow) is directly used to detect obstacles; no range, 3D motion, or 3D scene geometry is recovered; (2) knowledge about the camera-to-ground coordinate transformation is not required; (3) knowledge about vehicle (or camera) motion is not required; (4) the method is valid for the vehicle (or camera) undergoing general six-degree-of-freedom motion; (5) the error sources involved are reduced to a minimum, because the only information required is one component of optical flow. Numerous experiments using both synthetic and real image data are presented. Our methods are demonstrated in both ground and air vehicle scenarios.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1023/A:1008002714698
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  • 21
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    SWAMI: An autonomous mobile robot for inspection of nuclear waste storage facilities (1995)
    Springer
    Autonomous robots 2 (1995), S. 225-235 
    Details
    ISSN: 1573-7527
    Keywords: autonomous robots ; mobile robots ; automated inspection ; hazardous waste storage ; waste management
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract The Stored Waste Autonomous Mobile Inspector (SWAMI) is a prototype mobile robot designed to perform autonomous inspection of nuclear and hazardous waste storage facilities. The onboard control system, consisting of three Motorola 68030-based microcomputers, controls a number of subsystem components including barcode readers, cameras, and a radiation detector. The control system software, running under the VxWorks real-time operating system, is designed toward the client-server model and is implemented in C++. GENISAS, a communication library developed by the Sandia National Laboratories, is used extensively. Much of the onboard software was generated by a custom code generation tool called Moses.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1007/BF00710858
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  • 22
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    A predictor-corrector guidance control scheme for AGV navigation (1996)
    Springer
    Autonomous robots 3 (1996), S. 329-353 
    Details
    ISSN: 1573-7527
    Keywords: predictor-corrector control ; feedforward control ; guidance control ; track reconstruction ; look ahead capability ; AGV ; automated guided vehicle ; automated transit vehicle ; autonomous vehicles ; mobile robots
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract This paper presents a scheme that employs feedforward control in conjunction with a predictor-corrector scheme for guidance control of Automated Guided Vehicles (AGVs). The predictor-corrector scheme provides the desired values of steering parameters which depend on the geometry of the track and a driving criterion. The geometry of the track/road ahead of the vehicle is obtained by extrapolating the identified (estimated) geometry of the track/road traversed during the elapsed time interval. This real-time identification is carried out by fitting a curve to the path traversed by the vehicle. The coordinates of the path are provided by a transformation formulation which makes use of the motion parameters and a kinematic model of the vehicle. The driving criterion specifies the positioning of the AGV on the track. Several possible criteria are identified in the paper and mathematical formulations are presented for one such criterion. Results of off-line calculations using simulated track profiles and experimental data obtained using a prototype AGV while following various track profiles are provided for illustration.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1007/BF00240649
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  • 23
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    Collision Avoidance by Using Space-Time Representations of Motion Processes (1997)
    Springer
    Autonomous robots 4 (1997), S. 101-119 
    Details
    ISSN: 1573-7527
    Keywords: collision avoidance ; mobile robots ; space-time ; cooperation ; coordination ; sensing ; communication ; drift ; spatio-temporal uncertainty
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract This paper handles the problem of collision avoidance in a multi-robot environment. To solve this problem, the motion processes of the mobile robots are modelled in space-time. Since the robots are autonomous and communication is non-deterministic, there is temporal uncertainty in addition to spatial uncertainty. The paper presents a method to model both uncertainty components in a homogeneous way. It is shown, that it is not sufficient to guarantee a spatial security distance between the robots. Distances in space-time and space-time vectors must be considered. The main result of this paper is a straightforward and efficient solution to the problem of collision avoidance between up to three mobile robots by applying a space-time displacement vector. The solution is based on space-time, which is a helpful view onto our world in relativity theory and quantum physics. Space-time methods are also very valuable in Robotics, especially for problems in dynamic environments and for motion coordination of mobile robots. Practical experiments with up to two robots, and simulations of up to three robots have been performed and are reported.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1023/A:1008863220740
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  • 24
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    Decentralized Motion Planning for Multiple Mobile Robots: The Cocktail Party Model (1997)
    Springer
    Autonomous robots 4 (1997), S. 121-135 
    Details
    ISSN: 1573-7527
    Keywords: mobile robots ; autonomous agents ; decentralized intelligence ; robot motion planning
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract This paper presents an approach for decentralized real-time motion planning for multiple mobile robots operating in a common 2-dimensional environment with unknown stationary obstacles. In our model, a robot can see (sense) the surrounding objects. It knows its current and its target's position, is able to distinguish a robot from an obstacle, and can assess the instantaneous motion of another robot. Other than this, a robot has no knowledge about the scene or of the paths and objectives of other robots. There is no mutual communication among the robots; no constraints are imposed on the paths or shapes of robots and obstacles. Each robot plans its path toward its target dynamically, based on its current position and the sensory feedback; only the translation component is considered for the planning purposes. With this model, it is clear that no provable motion planning strategy can be designed (a simple example with a dead-lock is discussed); this naturally points to heuristic algorithms. The suggested strategy is based on maze-searching techniques. Computer simulation results are provided that demonstrate good performance and a remarkable robustness of the algorithm (meaning by this a virtual impossibility to create a dead-lock in a “random” scene).
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1023/A:1008815304810
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  • 25
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    Basic Visual and Motor Agents for Increasingly Complex Behavior Generation on a Mobile Robot (1998)
    Springer
    Autonomous robots 5 (1998), S. 19-28 
    Details
    ISSN: 1573-7527
    Keywords: mobile robots ; agents ; architectures ; foveated vision ; locomotion ; fuzzy behaviors ; behaviors composition
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract Present work addresses the guidelines that have been followed to construct basic behavioral agents for visually guided navigation within the framework of a hierarchical architecture. Visual and motor interactions are described within this generic framework that allows for an incremental development of behavior from an initial basis set. Basic locomotion agents as, Stop&Backward, Avoid, and Forward are implemented by means of fuzzy knowledge bases to deal with the uncertainty and imprecision inherent to real systems and environments. Basic visual agents as, Saccadic, Find_Contour, and Center are raised under a space-variant representation pursuing an anthropomorphic approach. We illustrate how a complex behavior results from the combination of lower level agents always connected to the basic motor agents. The proposed methodology is validated on a caterpillar mobile robot in navigation tasks directed by an object description.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1023/A:1008808908196
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  • 26
    Electronic Resource
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    Learning View Graphs for Robot Navigation (1998)
    Springer
    Autonomous robots 5 (1998), S. 111-125 
    Details
    ISSN: 1573-7527
    Keywords: visual navigation ; topological maps ; environment modeling ; exploration ; cognitive maps ; mobile robots ; omnidirectional sensor
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract We present a purely vision-based scheme for learning a topological representation of an open environment. The system represents selected places by local views of the surrounding scene, and finds traversable paths between them. The set of recorded views and their connections are combined into a graph model of the environment. To navigate between views connected in the graph, we employ a homing strategy inspired by findings of insect ethology. In robot experiments, we demonstrate that complex visual exploration and navigation tasks can thus be performed without using metric information.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1023/A:1008821210922
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  • 27
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    Rough Terrain Autonomous Mobility—Part 1: A Theoretical Analysis of Requirements (1998)
    Springer
    Autonomous robots 5 (1998), S. 129-161 
    Details
    ISSN: 1573-7527
    Keywords: mobile robots ; autonomous vehicles ; rough terrain mobility ; terrain mapping ; obstacle avoidance ; goal-seeking ; trajectory generation ; requirements analysis
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract A basic requirement of autonomous vehicles is that of guaranteeing the safety of the vehicle by avoiding hazardous situations. This paper analyses this requirement in general terms of real-time response, throughput, and the resolution and accuracy of sensors and computations. Several nondimensional expressions emerge which characterize requirements in canonical form. The automatic generation of dense geometric models for autonomously navigating vehicles is a computationally expensive process. Using first principles, it is possible to quantify the relationship between the raw throughput required of the perception system and the maximum safely achievable speed of the vehicle. We derive several useful expressions for the complexity of terrain mapping perception under various assumptions. All of them can be reduced to polynomials in the response distance. The significant time consumed by geometric perception degrades real-time response characteristics. Using our results, several strategies of active geometric perception arise which are practical for autonomous vehicles and increasingly important at higher speeds.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1023/A:1008801421636
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  • 28
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    Rough Terrain Autonomous Mobility—Part 2: An Active Vision, Predictive Control Approach (1998)
    Springer
    Autonomous robots 5 (1998), S. 163-198 
    Details
    ISSN: 1573-7527
    Keywords: mobile robots ; autonomous vehicles ; rough terrain mobility ; terrain mapping ; obstacle avoidance ; goal-seeking ; trajectory generation ; requirements analysis
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract Off-road autonomous navigation is one of the most difficult automation challenges from the point of view of constraints on mobility, speed of motion, lack of environmental structure, density of hazards, and typical lack of prior information. This paper describes an autonomous navigation software system for outdoor vehicles which includes perception, mapping, obstacle detection and avoidance, and goal seeking. It has been used on several vehicle testbeds including autonomous HMMWV's and planetary rover prototypes. To date, it has achieved speeds of 15 km/hr and excursions of 15 km. We introduce algorithms for optimal processing and computational stabilization of range imagery for terrain mapping purposes. We formulate the problem of trajectory generation as one of predictive control searching trajectories expressed in command space. We also formulate the problem of goal arbitration in local autonomous mobility as an optimal control problem. We emphasize the modeling of vehicles in state space form. The resulting high fidelity models stabilize coordinated control of a high speed vehicle for both obstacle avoidance and goal seeking purposes. An intermediate predictive control layer is introduced between the typical high-level strategic or artificial intelligence layer and the typical low-level servo control layer. This layer incorporates some deliberation, and some environmental mapping as do deliberative AI planners, yet it also emphasizes the real-time aspects of the problem as do minimalist reactive architectures.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1023/A:1008822205706
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