| 1. |
- Aarno, Daniel, et al.
(author)
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Artificial potential biased probabilistic roadmap method
- 2004
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In: 2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS. - 0780382323 ; , s. 461-466
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Conference paper (peer-reviewed)abstract
- Probabilistic roadmap methods (PRMs) have been successfully used to solve difficult path planning problems but their efficiency is limited when the free space contains narrow passages through which the robot must pass. This paper presents a new sampling scheme that aims to increase the probability of finding paths through narrow passages. Here, a biased sampling scheme is used to increase the distribution of nodes in narrow regions of the free space. A partial computation of the artificial potential field is used to bias the distribution of nodes.
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| 2. |
- Althaus, Philipp, et al.
(author)
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Navigation for human-robot interaction tasks
- 2004
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In: 2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS. - 0780382323 ; , s. 1894-1900
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Conference paper (peer-reviewed)abstract
- One major design goal in human-robot interaction is that the robots behave in an intelligent manner, preferably in a similar way as humans. This constraint must also be taken into consideration when the navigation system for the platform is developed. However, research in human-robot interaction is often restricted to other components of the system including gestures, manipulation, and speech. On the other hand, research for mobile robot navigation focuses primarily on the task of reaching a certain goal point in an environment. We believe that these two problems can not be treated separately for a personal robot that coexists with humans in the same surrounding. Persons move constantly while they are interacting with each other. Hence, also a robot should do that, which poses constraints on the navigation system. This type of navigation is the focus of this paper. Methods have been developed for a robot to join a group of people engaged in a conversation. Preliminary results show that the platform's moving patterns are very similar to the ones of the persons. Moreover, this dynamic interaction has been judged naturally by the test subjects, which greatly increases the perceived intelligence of the robot.
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| 3. |
- Björkman, Mårten, et al.
(author)
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Combination of foveal and peripheral vision for object recognition and pose estimation
- 2004
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In: 2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS. - 0780382323 ; , s. 5135-5140
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Conference paper (peer-reviewed)abstract
- In this paper, we present a real-time vision system that integrates a number of algorithms using monocular and binocular cues to achieve robustness in realistic settings, for tasks such as object recognition, tracking and pose estimation. The system consists of two sets of binocular cameras; a peripheral set for disparity based attention and a foveal one for higher level processes. Thus the conflicting requirements of a wide field of view and high resolution can be overcome. One important property of the system is that the step from task specification through object recognition to pose estimation is completely automatic, combining both appearance and geometric models. Experimental evaluation is performed in a realistic indoor environment with occlusions, clutter, changing lighting and background conditions.
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| 4. |
- Chida, K., et al.
(author)
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Development of the new anthropomorphic flutist robot WF-4
- 2004
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In: ICRA '04. 2004 IEEE International Conference on Robotics and Automation, 2004. Proceedings.. - 0780382323 ; , s. 152-157
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Conference paper (peer-reviewed)abstract
- Since 1990, we have been developing anthropomorphic flutist robots, which are mechanically similar to human organs needed for playing the flute. The goal of this research is to clarify the flute playing mechanism from an engineering point of view and to enable the communication with humans at emotional level. The control of the air beam parameters for obtaining a good sound is very important. Such parameters are related mainly to the lips shape and its relative position respect to the flute embouchure hole. Then, the newest version of the anthropomorphic flutist robot WF-4 has been implemented by improving the design of each part of the robot (lips, lungs, neck, etc.). This new version has succeeded in the improvement of the flute sound quality and the sound conversion efficiency. We describe the mechanical features of the WF-4 and the experiments done for evaluating its musical performance
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| 5. |
- Ekvall, Staffan, et al.
(author)
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Interactive grasp learning based on human demonstration
- 2004
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In: 2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS. - 0780382323 ; , s. 3519-3524
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Conference paper (peer-reviewed)abstract
- We describe our effort in development of an artificial cognitive system, able of performing complex manipulation tasks in a teleoperated or collaborative manner. Some of the work is motivated by human control strategies that, in general, involve comparison between sensory feedback and a-priori known, internal models. According to recent neuroscientific findings, predictions help to reduce the delays in obtaining the sensory information and to perform more complex tasks. This paper deals with the issue of robotic manipulation and grasping in particular. Two main contributions of the paper are: i) evaluation, recognition and modeling of human grasps during the arm transportation sequence, and ii) learning and representation of grasp strategies for different robotic hands.
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| 6. |
- Folkesson, John, 1960-, et al.
(author)
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Graphical SLAM : a self-correcting map
- 2004
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In: 2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, PROCEEDINGS. - 0780382323 ; , s. 383-390
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Conference paper (peer-reviewed)abstract
- We describe an approach to simultaneous localization and mapping, SLAM. This approach has the highly desirable property of robustness to data association errors. Another important advantage of our algorithm is that non-linearities are computed exactly, so that global constraints can be imposed even if they result in large shifts to the map. We represent the map as a graph and use the graph to find an efficient map update algorithm. We also show how topological consistency can be imposed on the map, such as, closing a loop. The algorithm has been implemented on an outdoor robot and we have experimental validation of our ideas. We also explain how the graph can be simplified leading to linear approximations of sections of the map. This reduction gives us a natural way to connect local map patches into a much larger global map.
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| 7. |
- Kyrki, Ville, et al.
(author)
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Measurement errors in visual servoing
- 2004
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In: 2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS. - 0780382323 ; , s. 1861-1867
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Conference paper (peer-reviewed)abstract
- In recent years, a number of hybrid visual servoing control algorithms have been proposed and evaluated. For some time now, it has been clear that classical control approaches - image and position based - have some inherent problems. Hybrid approaches try to combine them to overcome these problems. However, most of the proposed approaches concentrate on the design of the control law, neglecting the issue of errors resulting from the sensory system. This paper addresses the issue of measurement errors in visual servoing. The particular contribution is the analysis of the propagation of image error through pose estimation and visual servoing control law. We have chosen to investigate the properties of the vision system and their effect to the performance of the control system. Two approaches are evaluated: i) position, and ii) 2 1/2 D visual servoing. We believe that our evaluation offers a tool to build and analyze hybrid control systems based on, for example, switching [1] or partitioning [2].
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| 8. |
- Lilienthal, Achim J., 1970-, et al.
(author)
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Gas source declaration with a mobile robot
- 2004
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In: 2004 IEEE International Conference on Robotics and Automation. - New York, USA : IEEE. - 0780382323 ; , s. 1430-1435
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Conference paper (peer-reviewed)abstract
- As a sub-task of the general gas source localisation problem, gas source declaration is the process of determining the certainty that a source is in the immediate vicinity. Due to the turbulent character of gas transport in a natural indoor environment, it is not sufficient to search for instantaneous concentration maxima, in order to solve this task. Therefore, this paper introduces a method to classify whether an object is a gas source or not from a series of concentration measurements, recorded while the robot performs a rotation manoeuvre in front of a possible source. For three different gas source positions, a total of 288 declaration experiments were carried out at different robot-to-source distances. Based on these readings, two machine learning techniques (ANN, SVM) were evaluated in terms of their classification performance. With learning parameters that were optimised by grid search, a maximal hit rate of approximately 87.5% could be obtained using a support vector machine
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| 9. |
- Lingelbach, Frank
(author)
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Path planning using probabilistic cell decomposition
- 2004
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In: 2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS. - 0780382323 ; , s. 467-472
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Conference paper (peer-reviewed)abstract
- In this paper we present a new approach to path planning in high-dimensional static configuration spaces. The concept of cell decomposition is combined with probabilistic sampling to obtain a method called Probabilistic Cell Decomposition (PCD). The use of lazy evaluation techniques and supervised sampling in important areas leads to a very competitive path planning method. It is shown that PCD is probabilistic complete. PCD is easily scalable and applicable to many different kinds of problems. Experimental results show that PCD performs well under various conditions. Rigid body movements, maze like problems as well as path planning problems for chain-like robotic platforms have been solved successfully using the proposed algorithm.
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| 10. |
- Mazo, Manuel, et al.
(author)
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Multi-robot tracking of a moving object using directional sensors
- 2004
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In: 2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS. - 0780382323 ; , s. 1103-1108
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Conference paper (peer-reviewed)abstract
- The problem of estimating and tracking the motion of a moving target by a team of mobile robots is studied in this paper. Each robot is assumed to have a directional sensor with limited range, thus more than one robot (sensor) is needed for solving the problem. A sensor fusion scheme based on inter-robot communication is proposed in order to obtain accurate real-time information of the target's position and motion. Accordingly a hierarchical control scheme is applied, in which a consecutive set of desired formations is planned through a discrete model and low-level continuous-time controls are executed to track the resulting references. The algorithm is illustrated through simulations and on an experimental platform.
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| 11. |
- Strandberg, Morten
(author)
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Augmenting RRT-Planners with local trees
- 2004
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In: 2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS. - 0780382323 ; , s. 3258-3262
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Conference paper (peer-reviewed)abstract
- During the last few years, Rapidly-exploring Random Trees, RRTs, has been recognized as a very useful tool for designing efficient single-shot path planners. Another benefit is that RRTs can easily handle planning problems involving non-holonomic systems. However, it has also been noted that the narrow passage problem can become even more severe compared to other randomized methods. To reduce that problem, we suggest to augment RRT-planners with local trees. Furthermore, using local trees, the planner is able to explore several difficult regions in parallel. Something that has proved to be very effective for problems where the solution trajectory repeatedly has to pass difficult regions. We present powerful heuristics for when to create such trees and how often they should be allowed to grow, such that the RRT-planner will improve its qualities as an efficient single-shot path planner. The resulting algorithm, RRTLocTrees, is implemented in a newly developed object-oriented. framework for path planning and tested on four different path planning problems, with excellent results.
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| 12. |
- Topp, Elin Anna, et al.
(author)
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An interactive interface for service robots
- 2004
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In: 2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS. - 0780382323 ; , s. 3469-3474
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Conference paper (peer-reviewed)abstract
- In this paper, we present an initial design of an interactive interface for a service robot based on multi sensor fusion. We show how the integration of speech, vision and laser range data can be performed using a high level of abstraction. Guided by a number of scenarios commonly used in a service robot framework, the experimental evaluation will show the benefit of sensory integration which allows the design of a robust and natural interaction system using a set of simple perceptual algorithms.
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| 13. |
- Ögren, Petter
(author)
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Split and Join of Vehicle Formations doing Obstacle Avoidance
- 2004
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In: 2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS. - 0780382323 ; , s. 1951-1955
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Conference paper (peer-reviewed)abstract
- In this paper, we study a scenario where a set of vehicles having different origins and/or destinations move in a common region. The goal is to have the vehicles join and leave formations in a completely decentralized manner. When a vehicle traveling along its own path finds itself moving close to another vehicle it automatically switches into follower mode. The vehicle stays in follower mode as long as the path of the other vehicle is beneficial to it. If, at some point, the leader is not moving towards the destination of the follower, the follower leaves the leader and head of on its own. We address this problem for a group of dynamic unicycle robots. Incorporating the split and join capability into a Receding Horizon Control approach to obstacle avoidance we are able to show safety as well as convergence of all vehicles to their destinations under general nonconvex obstacle assumptions. We illustrate the method with a simulation example
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