Towards Dependable Robotic Perception
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Towards Dependable Robotic Perception
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Author : Anna V. Petrovskaya
language : en
Publisher: Stanford University
Release Date : 2011
Towards Dependable Robotic Perception written by Anna V. Petrovskaya and has been published by Stanford University this book supported file pdf, txt, epub, kindle and other format this book has been release on 2011 with categories.
Reliable perception is required in order for robots to operate safely in unpredictable and complex human environments. However, reliability of perceptual inference algorithms has been poorly studied so far. These algorithms capture uncertain knowledge about the world in the form of probabilistic belief distributions. A number of Monte Carlo and deterministic approaches have been developed, but their efficiency depends on the degree of smoothness of the beliefs. In the real world, the smoothness assumption often fails, leading to unreliable perceptual inference results. Motivated by concrete robotics problems, we propose two novel perceptual inference algorithms that explicitly consider local non-smoothness of beliefs and adapt to it. Both of these algorithms fall into the category of iterative divide-and-conquer methods and hence scale logarithmically with desired accuracy. The first algorithm is termed Scaling Series. It is an iterative Monte Carlo technique coupled with annealing. Local non-smoothness is accounted for by sampling strategy and by annealing schedule. The second algorithm is termed GRAB, which stands for Guaranteed Recursive Adaptive Bounding. GRAB is an iterative adaptive grid algorithm, which relies on bounds. In this case, local non-smoothness is captured in terms of local bounds and grid resolution. Scaling Series works well for beliefs with sharp transitions, but without many discontinuities. GRAB is most appropriate for beliefs with many discontinuities. Both of these algorithms far outperform the prior art in terms of reliability, efficiency, and accuracy. GRAB is also able to guarantee that a quality approximation of the belief is produced. The proposed algorithms are evaluated on a diverse set of real robotics problems: tactile perception, autonomous driving, and mobile manipulation. In tactile perception, we localize objects in 3D starting with very high initial uncertainty and estimating all 6 degrees of freedom. The localization is performed based on tactile sensory data. Using Scaling Series, we obtain highly accurate and reliable results in under 1 second. Improved tactile object localization contributes to manufacturing applications, where tactile perception is widely used for workpiece localization. It also enables robotic applications in situations where vision can be obstructed, such as rescue robotics and underwater robotics. In autonomous driving, we detect and track vehicles in the vicinity of the robot based on 2D and 3D laser range finders. In addition to estimating position and velocity of vehicles, we also model and estimate their geometric shape. The geometric model leads to highly accurate estimates of pose and velocity for each vehicle. It also greatly simplifies association of data, which are often split up into separate clusters due to occlusion. The proposed Scaling Series algorithm greatly improves reliability and ensures that the problem is solved within tight real time constraints of autonomous driving. In mobile manipulation, we achieve highly accurate robot localization based on commonly used 2D laser range finders using the GRAB algorithm. We show that the high accuracy allows robots to navigate in tight spaces and manipulate objects without having to sense them directly. We demonstrate our approach on the example of simultaneous building navigation, door handle manipulation, and door opening. We also propose hybrid environment models, which combine high resolution polygons for objects of interest with low resolution occupancy grid representations for the rest of the environment. High accuracy indoor localization contributes directly to home/office mobile robotics as well as to future robotics applications in construction, inspection, and maintenance of buildings. Based on the success of the proposed perceptual inference algorithms in the concrete robotics problems, it is our hope that this thesis will serve as a starting point for further development of highly reliable perceptual inference methods.
Towards Dependable Robotic Perception
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Author : Anna V. Petrovskaya
language : en
Publisher:
Release Date : 2011
Towards Dependable Robotic Perception written by Anna V. Petrovskaya 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.
Reliable perception is required in order for robots to operate safely in unpredictable and complex human environments. However, reliability of perceptual inference algorithms has been poorly studied so far. These algorithms capture uncertain knowledge about the world in the form of probabilistic belief distributions. A number of Monte Carlo and deterministic approaches have been developed, but their efficiency depends on the degree of smoothness of the beliefs. In the real world, the smoothness assumption often fails, leading to unreliable perceptual inference results. Motivated by concrete robotics problems, we propose two novel perceptual inference algorithms that explicitly consider local non-smoothness of beliefs and adapt to it. Both of these algorithms fall into the category of iterative divide-and-conquer methods and hence scale logarithmically with desired accuracy. The first algorithm is termed Scaling Series. It is an iterative Monte Carlo technique coupled with annealing. Local non-smoothness is accounted for by sampling strategy and by annealing schedule. The second algorithm is termed GRAB, which stands for Guaranteed Recursive Adaptive Bounding. GRAB is an iterative adaptive grid algorithm, which relies on bounds. In this case, local non-smoothness is captured in terms of local bounds and grid resolution. Scaling Series works well for beliefs with sharp transitions, but without many discontinuities. GRAB is most appropriate for beliefs with many discontinuities. Both of these algorithms far outperform the prior art in terms of reliability, efficiency, and accuracy. GRAB is also able to guarantee that a quality approximation of the belief is produced. The proposed algorithms are evaluated on a diverse set of real robotics problems: tactile perception, autonomous driving, and mobile manipulation. In tactile perception, we localize objects in 3D starting with very high initial uncertainty and estimating all 6 degrees of freedom. The localization is performed based on tactile sensory data. Using Scaling Series, we obtain highly accurate and reliable results in under 1 second. Improved tactile object localization contributes to manufacturing applications, where tactile perception is widely used for workpiece localization. It also enables robotic applications in situations where vision can be obstructed, such as rescue robotics and underwater robotics. In autonomous driving, we detect and track vehicles in the vicinity of the robot based on 2D and 3D laser range finders. In addition to estimating position and velocity of vehicles, we also model and estimate their geometric shape. The geometric model leads to highly accurate estimates of pose and velocity for each vehicle. It also greatly simplifies association of data, which are often split up into separate clusters due to occlusion. The proposed Scaling Series algorithm greatly improves reliability and ensures that the problem is solved within tight real time constraints of autonomous driving. In mobile manipulation, we achieve highly accurate robot localization based on commonly used 2D laser range finders using the GRAB algorithm. We show that the high accuracy allows robots to navigate in tight spaces and manipulate objects without having to sense them directly. We demonstrate our approach on the example of simultaneous building navigation, door handle manipulation, and door opening. We also propose hybrid environment models, which combine high resolution polygons for objects of interest with low resolution occupancy grid representations for the rest of the environment. High accuracy indoor localization contributes directly to home/office mobile robotics as well as to future robotics applications in construction, inspection, and maintenance of buildings. Based on the success of the proposed perceptual inference algorithms in the concrete robotics problems, it is our hope that this thesis will serve as a starting point for further development of highly reliable perceptual inference methods.
Probabilistic Approaches To Robotic Perception
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Author : João Filipe Ferreira
language : en
Publisher: Springer
Release Date : 2013-08-30
Probabilistic Approaches To Robotic Perception written by João Filipe Ferreira and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013-08-30 with Technology & Engineering categories.
This book tries to address the following questions: How should the uncertainty and incompleteness inherent to sensing the environment be represented and modelled in a way that will increase the autonomy of a robot? How should a robotic system perceive, infer, decide and act efficiently? These are two of the challenging questions robotics community and robotic researchers have been facing. The development of robotic domain by the 1980s spurred the convergence of automation to autonomy, and the field of robotics has consequently converged towards the field of artificial intelligence (AI). Since the end of that decade, the general public’s imagination has been stimulated by high expectations on autonomy, where AI and robotics try to solve difficult cognitive problems through algorithms developed from either philosophical and anthropological conjectures or incomplete notions of cognitive reasoning. Many of these developments do not unveil even a few of the processes through which biological organisms solve these same problems with little energy and computing resources. The tangible results of this research tendency were many robotic devices demonstrating good performance, but only under well-defined and constrained environments. The adaptability to different and more complex scenarios was very limited. In this book, the application of Bayesian models and approaches are described in order to develop artificial cognitive systems that carry out complex tasks in real world environments, spurring the design of autonomous, intelligent and adaptive artificial systems, inherently dealing with uncertainty and the “irreducible incompleteness of models”.
Towards Trustworthy Artificial Intelligent Systems
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Author : Maria Isabel Aldinhas Ferreira
language : en
Publisher: Springer Nature
Release Date : 2022-09-07
Towards Trustworthy Artificial Intelligent Systems written by Maria Isabel Aldinhas Ferreira and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022-09-07 with Technology & Engineering categories.
This present book provides valuable insights on the technical, societal and legal challenges posed by the use of artificial intelligent systems in a plethora of different applications, from embodied robotic systems to ML algorithms. Engaging with concerns about equity, privacy, surveillance and respect for human dignity, “Towards Trustworthy Artificial Intelligent Systems” highlights the fundamental factors on which stakeholders’ trust relies, identifying benchmarking, standardisation and certification as milestones grounding and consolidating that future trust. The multidisciplinary approach followed will make this book a valuable resource for all those involved in the production and deployment of AIs, as well as for academia and legal practitioners.
Social Robotics
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Author : Haizhou Li
language : en
Publisher: Springer Science & Business Media
Release Date : 2010-11-05
Social Robotics written by Haizhou Li 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 2010-11-05 with Computers categories.
The papers in this volume were the fruitful scientific results of the Second International Conference on Social Robotics (ICSR), held during November 23–24, 2010 in Singapore, which was jointly organized by the Social Robotics Laboratory (SRL), Interactive Digital Media Institute (IDMI), the National University of Singapore and 2 Human Language Technology Department, the Institute for Infocomm Research (I R), A*STAR, Singapore. These papers address a range of topics in social robotics and its applications. We received paper submissions from America, Asia, and Europe. All the papers were reviewed by at least three referees from the 32-member Program Committee who were assembled from the global community of social robotics researchers. This v- ume contains the 42 papers that were selected to report on the latest developments and studies of social robotics in the areas of human––robot interaction; affective and cognitive sciences for interactive robots; design philosophies and software archit- tures for robots; learning, adaptation and evolution of robotic intelligence; and mec- tronics and intelligent control.
Technological Enhancements For Improving Employee Performance Safety And Well Being
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Author : Kaur, Jaspreet
language : en
Publisher: IGI Global
Release Date : 2024-10-09
Technological Enhancements For Improving Employee Performance Safety And Well Being written by Kaur, Jaspreet and has been published by IGI Global this book supported file pdf, txt, epub, kindle and other format this book has been release on 2024-10-09 with Business & Economics categories.
Technological advancements are revolutionizing the workplace by enhancing employee performance, safety, and well-being. Innovative tools and systems, such as AI-driven performance analytics, wearable safety devices, and digital wellness platforms, allow organizations to create productive, secure, and supportive work environments. These technologies enable real-time monitoring and feedback, encourage proactive safety measures, and offer personalized wellness solutions, contributing to employee engagement and job satisfaction. Businesses must integrate these cutting-edge technologies to boost operational efficiency while fostering a healthy, motivated workforce. Technological Enhancements for Improving Employee Performance, Safety, and Well-Being explores the integration of new technology for improved employee safety, mental health, and workplace performance. The inclusion of data analytics and intelligent technologies for human resources, and the importance of human-machine interactions, are examined. This book covers topics such as wearable technology, human resources, and artificial intelligence, and is a useful resource for computer engineers, business owners, sociologists, psychologists, human resource professionals, academicians, scientists, and researchers.
Experimental Robotics
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Author : Oussama Khatib
language : en
Publisher: Springer
Release Date : 2013-08-20
Experimental Robotics written by Oussama Khatib and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013-08-20 with Technology & Engineering categories.
Incorporating papers from the 12th International Symposium on Experimental Robotics (ISER), December 2010, this book examines the latest advances across the various fields of robotics. Offers insights on both theoretical concepts and experimental results.
Robotic Navigation And Mapping With Radar
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Author : Martin Adams
language : en
Publisher: Artech House
Release Date : 2012
Robotic Navigation And Mapping With Radar written by Martin Adams and has been published by Artech House this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012 with Technology & Engineering categories.
A practical treatment of short-range radar processing for reliable object detection at ground level.
Field And Service Robotics
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Author : David S. Wettergreen
language : en
Publisher: Springer
Release Date : 2016-03-15
Field And Service Robotics written by David S. Wettergreen and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016-03-15 with Technology & Engineering categories.
This book contains the proceedings of the 10th FSR, (Field and Service Robotics) which is the leading single-track conference on applications of robotics in challenging environments. The 10th FSR was held in Toronto, Canada from 23-26 June 2015. The book contains 42 full-length, peer-reviewed papers organized into a variety of topics: Aquatic, Vision, Planetary, Aerial, Underground, and Systems. The goal of the book and the conference is to report and encourage the development and experimental evaluation of field and service robots, and to generate a vibrant exchange and discussion in the community. Field robots are non-factory robots, typically mobile, that operate in complex and dynamic environments: on the ground (Earth or other planets), under the ground, underwater, in the air or in space. Service robots are those that work closely with humans to help them with their lives. The first FSR was held in Canberra, Australia, in 1997. Since that first meeting, FSR has been held roughly every two years, cycling through Asia, Americas, Europe.
Transdisciplinarity And The Future Of Engineering
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Author : B.R. Moser
language : en
Publisher: IOS Press
Release Date : 2022-11-15
Transdisciplinarity And The Future Of Engineering written by B.R. Moser and has been published by IOS Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022-11-15 with Technology & Engineering categories.
This book presents the proceedings of TE2022, the 29th ISTE International Conference on Transdisciplinary Engineering, held at the Massachusetts Institute of Technology in Cambridge, United States, from 5 – 8 July 2022. Transdisciplinary engineering is the exchange of knowledge in the context of an innovation, in product, process, organisation or social environment. ISTE aims to explore and promote the evolution of engineering to incorporate transdisciplinary practices in which the exchange of different types of knowledge from a diverse range of disciplines is fundamental. The theme for the TE2022 conference is the future of engineering, and the 75 papers included here, which have all undergone a rigorous peer-review process, cover a wide range of topics and are grouped under 10 headings: Requirements, Knowledge and Architecture in Engineering; Case Studies; Energy, Environment, and Sustainability; Engineering Teamwork; Digital Engineering; imulation, Optimization, and Analytics; Manufacturing; Policy, Decisions, and Innovation; Engineering Education; Research on TE. The book will be of interest to all those working in the field of engineering today.