Multi Sensory Autonomous Mapping And Exploration With Application To Robotic Object Rearrangement
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Multi Sensory Autonomous Mapping And Exploration With Application To Robotic Object Rearrangement
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Author : Fredy Tungadi
language : en
Publisher:
Release Date : 2011
Multi Sensory Autonomous Mapping And Exploration With Application To Robotic Object Rearrangement written by Fredy Tungadi and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2011 with categories.
The ultimate aim of this thesis is to develop an autonomous exploring and mapping mobile robot system to provide a platform for useful applications such as autonomous cleaning or tidying. The first requirement for an autonomous mobile robot is autonomy of navigation which can be assisted by implementing Simultaneous Localisation and Mapping (SLAM). SLAM enables the robot to incrementally build a map of the environment and localise itself with the map. Unfortunately, SLAM does not encompass motion control that enables the robot to move autonomously to build the map. Therefore, in order to achieve a truly autonomous mapping operation, this thesis also focused on the development of an autonomous exploration approach. In addition, this thesis also included an autonomous online map merging system which allowed the robot to perform intermittent exploration and yet still be able to acquire a globally consistent map. Finally, the robot system with autonomous mapping and exploration capabilities was extended to perform an autonomous object rearrangement. Particularly, this thesis concentrated on the development of a system for the robot to autonomously discover and restore changes in object positions without the assistance of external aids. This thesis made the following original contributions to research. Firstly, a time synchronisation approach was developed, which permitted high speed mobile robot mapping by minimising time synchronisation errors of odometry and range sensors. Secondly, a real-time system for robust and accurate SLAM with fusion of advanced sonar features and laser Polar Scan Matching (PSM) was presented. This resolved the problem of map drifts in corridors resulting from ill-conditioned laser scan matches. In the development of the SLAM system, the PSM was extended for multiple laser rangefinders. This solved the problem of scans overlapping insufficiently in the matching process given the limited field of view of a single laser. Moreover, a method of simultaneously calibrating odometry and fine tuning the local range sensors' pose relative to the robot origin was presented. Thirdly, a Voronoi-loop-based approach for autonomous exploration which facilitated truly autonomous exploration and stable mapping by performing frequent loop closing was presented. Fourthly, an autonomous online map merging system for a single robot performing intermittent explorations was introduced. The map merging was achieved by combining a probabilistic Haar-based place recognition system using omnidirectional vision with an integrated SLAM and autonomous exploration system based on laser scan matching. This system was shown to robustly and autonomously perform map merging in challenging indoor environments. Fifthly, a method that utilised SLAM and autonomous exploration to discover and restore changes in object positions was presented. In the development of the object rearrangement system, a novel electromagnetic based grasping system and a novel path planning technique for transporting objects were introduced. The technical contributions of this thesis were validated with a series of practical experimentations using a real-time robot system with various combinations of sensors in typical indoor environments.
Scientific And Technical Aerospace Reports
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Author :
language : en
Publisher:
Release Date : 1995
Scientific And Technical Aerospace Reports written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1995 with Aeronautics categories.
Lists citations with abstracts for aerospace related reports obtained from world wide sources and announces documents that have recently been entered into the NASA Scientific and Technical Information Database.
Intelligent Systems
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Author : Alexander M. Meystel
language : en
Publisher: Wiley-Interscience
Release Date : 2002
Intelligent Systems written by Alexander M. Meystel and has been published by Wiley-Interscience this book supported file pdf, txt, epub, kindle and other format this book has been release on 2002 with Computers categories.
This comprehensive treatment of the field of intelligent systems is written by two of the foremost authorities in the field. The authors clearly examine the theoretical and practical aspects of these systems. The book focuses on the NIST-RCS (Real-time Control System) model that has been used recently in the Mars Rover.
Robotic Tactile Sensing
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Author : Ravinder S. Dahiya
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-07-29
Robotic Tactile Sensing written by Ravinder S. Dahiya and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-07-29 with Technology & Engineering categories.
Future robots are expected to work closely and interact safely with real-world objects and humans alike. Sense of touch is important in this context, as it helps estimate properties such as shape, texture, hardness, material type and many more; provides action related information, such as slip detection; and helps carrying out actions such as rolling an object between fingers without dropping it. This book presents an in-depth description of the solutions available for gathering tactile data, obtaining aforementioned tactile information from the data and effectively using the same in various robotic tasks. The efforts during last four decades or so have yielded a wide spectrum of tactile sensing technologies and engineered solutions for both intrinsic and extrinsic touch sensors. Nowadays, new materials and structures are being explored for obtaining robotic skin with physical features like bendable, conformable, and stretchable. Such features are important for covering various body parts of robots or 3D surfaces. Nonetheless, there exist many more hardware, software and application related issues that must be considered to make tactile sensing an effective component of future robotic platforms. This book presents an in-depth analysis of various system related issues and presents the trade-offs one may face while developing an effective tactile sensing system. For this purpose, human touch sensing has also been explored. The design hints coming out of the investigations into human sense of touch can be useful in improving the effectiveness of tactile sensory modality in robotics and other machines. Better integration of tactile sensors on a robot’s body is prerequisite for the effective utilization of tactile data. The concept of semiconductor devices based sensors is an interesting one, as it allows compact and fast tactile sensing systems with capabilities such as human-like spatio-temporal resolution. This book presents a comprehensive description of semiconductor devices based tactile sensing. In particular, novel Piezo Oxide Semiconductor Field Effect Transistor (POSFET) based approach for high resolution tactile sensing has been discussed in detail. Finally, the extension of semiconductors devices based sensors concept to large and flexile areas has been discussed for obtaining robotic or electronic skin. With its multidisciplinary scope, this book is suitable for graduate students and researchers coming from diverse areas such robotics (bio-robots, humanoids, rehabilitation etc.), applied materials, humans touch sensing, electronics, microsystems, and instrumentation. To better explain the concepts the text is supported by large number of figures.
Planetary Rovers
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Author : Alex Ellery
language : en
Publisher: Springer
Release Date : 2018-03-30
Planetary Rovers written by Alex Ellery and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-03-30 with Technology & Engineering categories.
This will be the only book on planetary rover development covering all aspects relevant to the design of systems
Constrained Markov Decision Processes
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Author : Eitan Altman
language : en
Publisher: CRC Press
Release Date : 1999-03-30
Constrained Markov Decision Processes written by Eitan Altman and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 1999-03-30 with Mathematics categories.
This book provides a unified approach for the study of constrained Markov decision processes with a finite state space and unbounded costs. Unlike the single controller case considered in many other books, the author considers a single controller with several objectives, such as minimizing delays and loss, probabilities, and maximization of throughputs. It is desirable to design a controller that minimizes one cost objective, subject to inequality constraints on other cost objectives. This framework describes dynamic decision problems arising frequently in many engineering fields. A thorough overview of these applications is presented in the introduction. The book is then divided into three sections that build upon each other. The first part explains the theory for the finite state space. The author characterizes the set of achievable expected occupation measures as well as performance vectors, and identifies simple classes of policies among which optimal policies exist. This allows the reduction of the original dynamic into a linear program. A Lagranian approach is then used to derive the dual linear program using dynamic programming techniques. In the second part, these results are extended to the infinite state space and action spaces. The author provides two frameworks: the case where costs are bounded below and the contracting framework. The third part builds upon the results of the first two parts and examines asymptotical results of the convergence of both the value and the policies in the time horizon and in the discount factor. Finally, several state truncation algorithms that enable the approximation of the solution of the original control problem via finite linear programs are given.
Robot Motion Planning
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Author : Jean-Claude Latombe
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-12-06
Robot Motion Planning written by Jean-Claude Latombe and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-12-06 with Technology & Engineering categories.
One of the ultimate goals in Robotics is to create autonomous robots. Such robots will accept high-level descriptions of tasks and will execute them without further human intervention. The input descriptions will specify what the user wants done rather than how to do it. The robots will be any kind of versatile mechanical device equipped with actuators and sensors under the control of a computing system. Making progress toward autonomous robots is of major practical inter est in a wide variety of application domains including manufacturing, construction, waste management, space exploration, undersea work, as sistance for the disabled, and medical surgery. It is also of great technical interest, especially for Computer Science, because it raises challenging and rich computational issues from which new concepts of broad useful ness are likely to emerge. Developing the technologies necessary for autonomous robots is a formidable undertaking with deep interweaved ramifications in auto mated reasoning, perception and control. It raises many important prob lems. One of them - motion planning - is the central theme of this book. It can be loosely stated as follows: How can a robot decide what motions to perform in order to achieve goal arrangements of physical objects? This capability is eminently necessary since, by definition, a robot accomplishes tasks by moving in the real world. The minimum one would expect from an autonomous robot is the ability to plan its x Preface own motions.
Template Matching Techniques In Computer Vision
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Author : Roberto Brunelli
language : en
Publisher: John Wiley & Sons
Release Date : 2009-04-29
Template Matching Techniques In Computer Vision written by Roberto Brunelli and has been published by John Wiley & Sons this book supported file pdf, txt, epub, kindle and other format this book has been release on 2009-04-29 with Science categories.
The detection and recognition of objects in images is a key research topic in the computer vision community. Within this area, face recognition and interpretation has attracted increasing attention owing to the possibility of unveiling human perception mechanisms, and for the development of practical biometric systems. This book and the accompanying website, focus on template matching, a subset of object recognition techniques of wide applicability, which has proved to be particularly effective for face recognition applications. Using examples from face processing tasks throughout the book to illustrate more general object recognition approaches, Roberto Brunelli: examines the basics of digital image formation, highlighting points critical to the task of template matching; presents basic and advanced template matching techniques, targeting grey-level images, shapes and point sets; discusses recent pattern classification paradigms from a template matching perspective; illustrates the development of a real face recognition system; explores the use of advanced computer graphics techniques in the development of computer vision algorithms. Template Matching Techniques in Computer Vision is primarily aimed at practitioners working on the development of systems for effective object recognition such as biometrics, robot navigation, multimedia retrieval and landmark detection. It is also of interest to graduate students undertaking studies in these areas.
Constraint Based Reasoning
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Author : Eugene C. Freuder
language : en
Publisher: MIT Press
Release Date : 1994
Constraint Based Reasoning written by Eugene C. Freuder and has been published by MIT Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 1994 with Computers categories.
Constraint-based reasoning is an important area of automated reasoning in artificial intelligence, with many applications. These include configuration and design problems, planning and scheduling, temporal and spatial reasoning, defeasible and causal reasoning, machine vision and language understanding, qualitative and diagnostic reasoning, and expert systems. Constraint-Based Reasoning presents current work in the field at several levels: theory, algorithms, languages, applications, and hardware. Constraint-based reasoning has connections to a wide variety of fields, including formal logic, graph theory, relational databases, combinatorial algorithms, operations research, neural networks, truth maintenance, and logic programming. The ideal of describing a problem domain in natural, declarative terms and then letting general deductive mechanisms synthesize individual solutions has to some extent been realized, and even embodied, in programming languages. Contents Introduction, E. C. Freuder, A. K. Mackworth * The Logic of Constraint Satisfaction, A. K. Mackworth * Partial Constraint Satisfaction, E. C. Freuder, R. J. Wallace * Constraint Reasoning Based on Interval Arithmetic: The Tolerance Propagation Approach, E. Hyvonen * Constraint Satisfaction Using Constraint Logic Programming, P. Van Hentenryck, H. Simonis, M. Dincbas * Minimizing Conflicts: A Heuristic Repair Method for Constraint Satisfaction and Scheduling Problems, S. Minton, M. D. Johnston, A. B. Philips, and P. Laird * Arc Consistency: Parallelism and Domain Dependence, P. R. Cooper, M. J. Swain * Structure Identification in Relational Data, R. Dechter, J. Pearl * Learning to Improve Constraint-Based Scheduling, M. Zweben, E. Davis, B. Daun, E. Drascher, M. Deale, M. Eskey * Reasoning about Qualitative Temporal Information, P. van Beek * A Geometric Constraint Engine, G. A. Kramer * A Theory of Conflict Resolution in Planning, Q. Yang A Bradford Book.
Death 24x A Second
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Author : Laura Mulvey
language : en
Publisher: Reaktion Books
Release Date : 2006-03
Death 24x A Second written by Laura Mulvey and has been published by Reaktion Books this book supported file pdf, txt, epub, kindle and other format this book has been release on 2006-03 with Performing Arts categories.
A fascinating exploration of the role new media technologies play in our experience of film.