Keywords: Co-operative robotics, Computer vision, Mobile robotics
Abstract: Unmanned Air Vehicles (UAVs) have several advantages and disadvantages compared with Unmanned Ground Vehicles (UGVs). Both systems have different mobility and perception abilities. UAV systems have extended perception, tracking, and mobility capabilities compared with UGVs. UGVs have more intimate mobility and manipulation capabilities. This paper will present the research that has been conducted in the collaboration of UAVs and UGVs. This research will demonstrate the use of a passive UAV system for tracking and state estimation of a UGV. This paper will discuss the UAV sensors and avionics, present the algorithms for combining the UGV kinematics equations and the geo-positioning algorithms used on the UAV to form a robust UGV state estimation, and present experimental results.

Keywords: Co-operative robotics, Mobile robotics
Abstract: This research identifies a strategy called compliant formation control, which may be used to coordinate the navigational structure of a team of autonomous vehicles. This technique controls the team’s motion based on a given, desired formation shape and a given, desired set of neighboring separation distances, wherein the formation shape is considered general two-dimensional. The strategy establishes how to select, place, and use virtual springs and dampers that conceptually "force" proper interspacing between neighboring team members. The objective is to continuously maintain, in the most optimal way, the desired formation as team motion proceeds. In practice, actual robot separation distances will be measured relative to smarter, leader robots that have known position and orientation information at all times (e.g., GPS or INS). The control strategy subsequently commands, in an optimal way, each vehicle by providing a heading and velocity necessary to maintain the desired formation. Such requisite commands result from modeling the compliant displacements of team members as they travel in a network of virtual springs and dampers. The equations used to achieve coordinated motion of the robot team will be discussed and specific case studies will be presented to demonstrate the effectiveness of the compliant formation control strategy.

Keywords: Intelligent systems, Co-operative robotics, Adaptive and learning control
Abstract: Missions that involve tasks such as search-and-rescue or reconnaissance have traditionally involved humans, perhaps with the assistance of one or more robots. The robots, or unmanned systems, are typically teleoperated—operated by remote control to inspect a suspicious object, for example. With the advent of newer and less expensive forms of autonomy and one-on-one communication, the robots are becoming more capable of acting as peers, rather than tools, alongside the humans. As the diversity of mixed human-robot teams is increased, so is the complexity of trying to decide on questions regarding configuration: what robots should be used, how many, and how many humans should be employed in the teaming process? We propose a decision support approach that builds a large number of discrete event simulations, with dynamic queuing models partially induced from CAD layout specifications in an urban environment. This work describes a detailed design with an implementation plan for the decision support.

Keywords: Mobile robotics, Intelligent systems, Co-operative robotics
Abstract: Measurement of tree parameters, particularly tree diameter and location, in connection to forest harvesters, is discussed. Diameters are determined from laser scanner measurements using a simple method based on edge points of a feature, in addition to the point with the shortest range to the scanner. The measurement height is equal to 1.3 m from the ground. The data for this research have been collected in a pine forest using a 2D laser scanner mounted on a mobile ATV platform. The error of the tree diameter calculations is 4% in average. The evaluation of the tree localization is based on manually measured reference data of the forest.

Keywords: Robot manipulators, Manipulator control
Abstract: The interfacing of haptic and hydraulic systems produce great benefits and the application of these systems will increase over time. This research presents one approach to successfully interfacing a force-feedback joystick with a hydraulic robot arm. In order to complete this task, two mild-stones have to be achieved. First, an expression representing the value of the displayed force needs to be determined. Secondly, a real-time interface has to exist between the force-feedback joystick and the hydraulic arm. The method chosen to determine the displayed force is based on Lagrange-Euler recursive equations for generalized linkages. These equations represent the system dynamics and can be used to determine the desired drive efforts. The calculated drive effort combined with an experimentally modeled frictional effect is then used to compute the necessary display force. The force-feedback joystick chosen was an Impulse Engine 2000. From this research, it can be observed that modeling the effect of friction definitely improves the accuracy of the display force. It also can be inferred that using Lagrange-Euler to determine the display force is not a desirable method for mass production of hydraulic force-feedback systems.

Keywords: Robot manipulators, Mobile robotics, Manipulator control
Abstract: A wheelchair-mounted robotic arm (WMRA) system was designed and built to meet the needs of mobility-impaired persons with limitations of upper extremities, and to exceed the capabilities of current devices of this type. The control of this 9-DoF system expands on the conventional control methods and combines the 7-DoF robotic arm control with the 2-DoF power wheelchair control. The 3-degrees of redundancy are optimized to effectively perform activities of daily living (ADLs) and overcome singularities, joint limits and some workspace limitations. The control system is designed for teleoperated or autonomous coordinated Cartesian control, and it offers expandability for future research, such as voice or sip and puff control operations and sensor assist functions.

Keywords: Adaptive and learning control, Fuzzy logic, Soft computing
Abstract:

Keywords: Evolutionary robotics, Mobile robotics, Adaptive and learning control
Abstract: This paper discusses utilizing genetic algorithms to automatically design a suitable sensor morphology and controller for a given task in categories of environments. The type of sensors, the heading angle and the range of the sensor, and the rules the controller, are co-evolved. The described method enables the system to decipher information from the environment to determine that is relevant to completing a given task while configuring a minimal controller and number of sensors, thus increasing the overall efficiency of the robot.

Keywords: Genetic algorithms, Robot manipulators, Evolutionary computing
Abstract:

Keywords: Adaptive and learning control, Mobile robotics, Computer vision
Abstract: The vast majority of Autonomous Ground Vehicles in development today operate with GPS based navigation systems. While the accuracy of GPS systems have improved greatly over the previous decade, the stability of their solutions have not. The phenomenon is commonly known as “drift” and may have a magnitude of more than a few meters. Many researchers have relied on Kalman filtering and inertial measurement correction to attempt to reduce the drift of their global position. Nevertheless, the question of precise position correction remains a obstacle in the development of AGV’s for complex urban environments. This paper outlines a method for vision based correction and localization of vehicle position through consideration of a-priori information and perceived road characteristics. The following discussion outlines both the image processing steps used to prepare the resulting solution and the logical considerations used to correct the vehicle’s perceived position. The approach is called simply the Adaptive Lane Finding Smart Sensor, and it will be deployed in the 2007 DARPA Urban Challenge.

Keywords: Evolutionary robotics, Mobile robotics
Abstract: The results presented in this paper are a part of the second phase of a body of research with the goal of co-evolving the mind and morphology of dynamic robots. We use a 3-Dimensional simulated gravitational environment to evolve LEGO structures. The focus of the current research is evolution of locomotion. The genetic algorithm uses a fitness function that encompasses the structure’s movement, stability, and tension. Ten evolution tests were performed and all successfully yielded moving robots.

Keywords: Evolutionary robotics, Mobile robotics, Genetic algorithms
Abstract: This paper proposes self-localization and map building methods based on a steady-state genetic algorithm and self organizing map for a mobile robot used for illuminance measurement. According to the measured distance by laser range finder, the map is updated sequentially. When the difference between the measured distance and the making map data is large, the proposed method corrects the selflocation and updates the map to be more accurate. Finally we show computer simulation and experimental results of the proposed method.

Keywords: Mobile robotics, Intelligent systems, Agent technology
Abstract: The Beowulf cluster approach to parallel computation offers a potentially cheap and robust source of computational power for high complexity algorithms in robotics. The challenge is to integrate this approach with the mobility and time critical response constraints of many robotic algorithms. The key contributions of this paper are: (1) introduction of a computational architecture for integrating a cluster into the control architecture of one or more robots, (2) a cluster implementation of Thrun et al’s Concurrent Localization and Mapping (CML) algorithm, and (3) presentation of results to illustrate the performance of the implemented CML algorithm and validate the architectural approach.