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  • Merging of appearance-based place knowledge among multiple robots
    Auton. Robot. (IF 3.634) Pub Date : 2020-03-26
    Hakan Karaoğuz, H. Işil Bozma

    Abstract If robots can merge the appearance-based place knowledge of other robots with their own, they can relate to these places even if they have not previously visited them. We have investigated this problem using robots with compatible visual sensing capabilities and with each robot having its individual long-term place memory. Here, each place refers to a spatial region as defined by a collection

    更新日期:2020-03-27
  • Formation control of unmanned micro aerial vehicles for straitened environments
    Auton. Robot. (IF 3.634) Pub Date : 2020-03-25
    Martin Saska, Daniel Hert, Tomas Baca, Vit Kratky, Tiago Nascimento

    Abstract This paper presents a novel approach for control and motion planning of formations of multiple unmanned micro aerial vehicles (multi-rotor helicopters, in the literature also often called unmanned aerial vehicles—UAVs or unmanned aerial system—UAS) in cluttered GPS-denied on straitened environments. The proposed method enables us to autonomously design complex maneuvers of a compact Micro

    更新日期:2020-03-26
  • dRRT * : Scalable and informed asymptotically-optimal multi-robot motion planning
    Auton. Robot. (IF 3.634) Pub Date : 2019-01-24
    Rahul Shome, Kiril Solovey, Andrew Dobson, Dan Halperin, Kostas E. Bekris

    Abstract Many exciting robotic applications require multiple robots with many degrees of freedom, such as manipulators, to coordinate their motion in a shared workspace. Discovering high-quality paths in such scenarios can be achieved, in principle, by exploring the composite space of all robots. Sampling-based planners do so by building a roadmap or a tree data structure in the corresponding configuration

    更新日期:2020-03-24
  • CARE: Cooperative Autonomy for Resilience and Efficiency of robot teams for complete coverage of unknown environments under robot failures
    Auton. Robot. (IF 3.634) Pub Date : 2019-06-21
    Junnan Song, Shalabh Gupta

    Abstract This paper addresses the problem of Multi-robot Coverage Path Planning for unknown environments in the presence of robot failures. Unexpected robot failures can seriously degrade the performance of a robot team and in extreme cases jeopardize the overall operation. Therefore, this paper presents a distributed algorithm, called Cooperative Autonomy for Resilience and Efficiency, which not only

    更新日期:2020-03-24
  • Correction to: GP-SLAM: laser-based SLAM approach based on regionalized Gaussian process map reconstruction
    Auton. Robot. (IF 3.634) Pub Date : 2020-03-07
    Bo Li, Yingqiang Wang, Yu Zhang, Wenjie Zhao, Jianyuan Ruan, Ping Li

    Unfortunately, the acknowledgement text was incorrectly published in the original article.

    更新日期:2020-03-20
  • Automated synthesis of decentralized controllers for robot swarms from high-level temporal logic specifications
    Auton. Robot. (IF 3.634) Pub Date : 2019-05-21
    Salar Moarref, Hadas Kress-Gazit

    Abstract The majority of work in the field of swarm robotics focuses on the bottom-up design of local rules for individual robots that create emergent swarm behaviors. In this paper, we take a top-down approach and consider the following problem: how can we specify a desired collective behavior and automatically synthesize decentralized controllers that can be distributed over robots to achieve the

    更新日期:2020-03-20
  • Adaptive target tracking with a mixed team of static and mobile guards: deployment and activation strategies
    Auton. Robot. (IF 3.634) Pub Date : 2019-02-04
    Guillermo J. Laguna, Sourabh Bhattacharya

    Abstract This work explores a variation of the art gallery problem in which a team of static and mobile guards track a mobile intruder with unknown maximum speed. We consider the special case when the mobile guards are restricted to move along the diagonals of a polygonal environment. First, we present an algorithm to identify candidate vertices in a polygon at which either static guards can be placed

    更新日期:2020-03-20
  • Distributed multi-target search and tracking using the PHD filter
    Auton. Robot. (IF 3.634) Pub Date : 2019-02-22
    Philip M. Dames

    Abstract This paper proposes a distributed estimation and control algorithm that enables a team of mobile robots to search for and track an unknown number of targets. These targets may be stationary or moving, and the number of targets may vary over time as targets enter and leave the area of interest. The robots are equipped with sensors that have a finite field of view and may experience false negative

    更新日期:2020-03-20
  • SOUL: data sharing for robot swarms
    Auton. Robot. (IF 3.634) Pub Date : 2019-05-16
    Vivek Shankar Varadharajan, David St-Onge, Bram Adams, Giovanni Beltrame

    Abstract Interconnected devices and mobile multi-robot systems are increasingly present in many real-life scenarios. To be effective, these systems need to collect large amounts of data from their environment, and often these data need to be aggregated, shared, and distributed. Many multi-robot systems are designed to share state information and commands, but their communication infrastructure is often

    更新日期:2020-03-20
  • Gaussian process decentralized data fusion meets transfer learning in large-scale distributed cooperative perception
    Auton. Robot. (IF 3.634) Pub Date : 2019-01-28
    Ruofei Ouyang, Bryan Kian Hsiang Low

    Abstract This paper presents novel Gaussian process decentralized data fusion algorithms exploiting the notion of agent-centric support sets for distributed cooperative perception of large-scale environmental phenomena. To overcome the limitations of scale in existing works, our proposed algorithms allow every mobile sensing agent to utilize a different support set and dynamically switch to another

    更新日期:2020-03-20
  • Multi-robot online sensing strategies for the construction of communication maps
    Auton. Robot. (IF 3.634) Pub Date : 2019-05-22
    Alberto Quattrini Li, Phani Krishna Penumarthi, Jacopo Banfi, Nicola Basilico, Jason M. O’Kane, Ioannis Rekleitis, Srihari Nelakuditi, Francesco Amigoni

    Abstract This paper tackles the problem of constructing a communication map of a known environment using multiple robots. A communication map encodes information on whether two robots can communicate when they are at two arbitrary locations and plays a fundamental role for a multi-robot system deployment to reliably and effectively achieve a variety of tasks, such as environmental monitoring and exploration

    更新日期:2020-03-20
  • Competition and cooperation in a community of autonomous agents
    Auton. Robot. (IF 3.634) Pub Date : 2019-06-01
    Pablo Gómez Esteban, Si Liu, David Ríos Insua, Jorge González-Ortega

    Abstract Agents that perform intelligent tasks interacting with humans in a seamless manner are becoming a reality. In contexts in which interactions among agents repeat over time, they might evolve from a cooperative to a competitive attitude, and vice versa, depending on environmental factors and other contextual circumstances. We provide a framework to model transitions between competition and cooperation

    更新日期:2020-03-20
  • Air-ground cooperative topometric mapping of traversable ground
    Auton. Robot. (IF 3.634) Pub Date : 2019-08-01
    Brice Renaudeau, Ouiddad Labbani-Igbida, Gilles Mourioux

    Abstract In this paper, we propose an approach for cooperative mapping of traversable ground from aerial and ground views in structured outdoor and indoor environments. The presented approach achieves a hybrid map building based on traversable ground skeletonization and graph matching. The obtained map is an augmented ground traversability map, represented as a hybrid topological/metric graph from

    更新日期:2020-03-20
  • Average case constant factor time and distance optimal multi-robot path planning in well-connected environments
    Auton. Robot. (IF 3.634) Pub Date : 2019-05-21
    Jingjin Yu

    Abstract Fast algorithms for optimal multi-robot path planning are sought after in real-world applications. Known methods, however, generally do not simultaneously guarantee good solution optimality and good (e.g., polynomial) running time. In this work, we develop a first low-polynomial running time algorithm, called SplitAndGroup (SaG), that solves the multi-robot path planning problem on grids and

    更新日期:2020-03-20
  • Cooperative visual-inertial sensor fusion: fundamental equations and state determination in closed-form
    Auton. Robot. (IF 3.634) Pub Date : 2019-03-04
    Agostino Martinelli, Alessandro Renzaglia, Alexander Oliva

    Abstract This paper investigates the visual and inertial sensor fusion problem in the cooperative case and provides new theoretical and basic results. Specifically, the case of two agents is investigated. Each agent is equipped with inertial sensors (accelerometer and gyroscope) and with a monocular camera. By using the monocular camera, each agent can observe the other agent. No additional camera

    更新日期:2020-03-20
  • Cooperative Queuing Policies for Effective Scheduling of Operator Intervention
    Auton. Robot. (IF 3.634) Pub Date : 2019-07-15
    Masoume M. Raeissi, Alessandro Farinelli

    Abstract We consider multi-robot applications, where a team of robots can ask for the intervention of a human operator to handle difficult situations. As the number of requests grows, team members will have to wait for the operator attention, hence the operator becomes a bottleneck for the system. Our aim in this context is to make the robots learn cooperative strategies to decrease the idle time of

    更新日期:2020-03-20
  • Humans interacting with multi-robot systems: a natural affect-based approach
    Auton. Robot. (IF 3.634) Pub Date : 2019-10-22
    Valeria Villani, Beatrice Capelli, Cristian Secchi, Cesare Fantuzzi, Lorenzo Sabattini

    Abstract This paper proposes a novel human–multi-robot-system interaction approach that enjoys two main features: natural interaction and affect-based adaptation of robots behavior. Specifically, the proposed system enables interaction by means of a wrist-worn device, such as a commercial smartwatch, which allows to track user’s movements and heart activity. Thus, on the one side, the proposed system

    更新日期:2020-03-20
  • Efficient recursive distributed state estimation of hidden Markov models over unreliable networks
    Auton. Robot. (IF 3.634) Pub Date : 2019-05-17
    Amirhossein Tamjidi, Reza Oftadeh, Suman Chakravorty, Dylan Shell

    Abstract We consider a scenario in which a process of interest, evolving within an environment occupied by several agents, is well-described probablistically via a Markov model. The agents each have local views and observe only some limited partial aspects of the world, but their overall task is to fuse their data to construct an integrated, global portrayal. The problem, however, is that their communications

    更新日期:2020-03-20
  • Distributed coverage in mobile sensor networks without location information
    Auton. Robot. (IF 3.634) Pub Date : 2019-05-27
    Marzieh Varposhti, Vesal Hakami, Mehdi Dehghan

    Abstract With the recent advances in robotic technologies, field coverage using mobile sensors is now possible, so that a small set of sensors can be mounted on mobile robots and move to desired areas. Compared to static settings, area coverage is more complicated in a mobile sensor network due to the dynamics arising from the continuous movement of the sensors. This complication is even higher in

    更新日期:2020-03-20
  • Hybrid planning and distributed iterative repair for multi-robot missions with communication losses
    Auton. Robot. (IF 3.634) Pub Date : 2019-07-17
    Patrick Bechon, Charles Lesire, Magali Barbier

    Abstract This paper presents a planning and execution architecture suited for the initial planning, the execution and the on-board repair of a plan for a multi-robot mission. The team as a whole must accomplish its mission while dealing with online events such as robots breaking down, new objectives for the team, late actions and intermittent communications. We have chosen a “plan then repair” approach

    更新日期:2020-03-20
  • Hierarchical reinforcement learning via dynamic subspace search for multi-agent planning
    Auton. Robot. (IF 3.634) Pub Date : 2019-07-12
    Aaron Ma, Michael Ouimet, Jorge Cortés

    Abstract We consider scenarios where a swarm of unmanned vehicles (UxVs) seek to satisfy a number of diverse, spatially distributed objectives. The UxVs strive to determine an efficient plan to service the objectives while operating in a coordinated fashion. We focus on developing autonomous high-level planning, where low-level controls are leveraged from previous work in distributed motion, target

    更新日期:2020-03-20
  • On-board range-based relative localization for micro air vehicles in indoor leader–follower flight
    Auton. Robot. (IF 3.634) Pub Date : 2019-03-04
    Steven van der Helm, Mario Coppola, Kimberly N. McGuire, Guido C. H. E. de Croon

    Abstract We present a range-based solution for indoor relative localization by micro air vehicles (MAVs), achieving sufficient accuracy for leader–follower flight. Moving forward from previous work, we removed the dependency on a common heading measurement by the MAVs, making the relative localization accuracy independent of magnetometer readings. We found that this restricts the relative maneuvers

    更新日期:2020-03-20
  • A robust localization system for multi-robot formations based on an extension of a Gaussian mixture probability hypothesis density filter
    Auton. Robot. (IF 3.634) Pub Date : 2019-06-20
    Alicja Wasik, Pedro U. Lima, Alcherio Martinoli

    Abstract This paper presents a strategy for providing reliable state estimates that allow a group of robots to realize a formation even when communication fails and the tracking data alone is insufficient for maintaining a stable formation. Furthermore, the tracking information does not provide the identity of the robot, therefore a simple fusion of tracking and communication data is not possible.

    更新日期:2020-03-20
  • Asymptotically Optimal Kinematic Design of Robots using Motion Planning.
    Auton. Robot. (IF 3.634) Pub Date : 2018-06-29
    Cenk Baykal,Chris Bowen,Ron Alterovitz

    In highly constrained settings, e.g., a tentaclelike medical robot maneuvering through narrow cavities in the body for minimally invasive surgery, it may be difficult or impossible for a robot with a generic kinematic design to reach all desirable targets while avoiding obstacles. We introduce a design optimization method to compute kinematic design parameters that enable a single robot to reach as

    更新日期:2019-11-01
  • An Inductance-Based Sensing System for Bellows-Driven Continuum Joints in Soft Robots.
    Auton. Robot. (IF 3.634) Pub Date : 2018-06-11
    Wyatt Felt,C David Remy,Maria J Telleria,Thomas F Allen,Gabriel Hein,Jonathan B Pompa,Kevin Albert

    In this work we present a novel, inductance-based system to measure and control the motion of bellows-driven continuum joints in soft robots. The sensing system relies on coils of wire wrapped around the minor diameters of each bellows on the joint. As the bellows extend, these coils of wire become more distant, decreasing their mutual inductance. Measuring this change in mutual inductance allows us

    更新日期:2019-11-01
  • Active Localization and Tracking of Needle and Target in Robotic Image-Guided Intervention Systems.
    Auton. Robot. (IF 3.634) Pub Date : 2018-02-17
    Mark Renfrew,Mark Griswold,M Cenk Çavuşoğlu

    This paper describes a framework of algorithms for the active localization and tracking of flexible needles and targets during image-guided percutaneous interventions. The needle and target configurations are tracked by Bayesian filters employing models of the needle and target motions and measurements of the current system state obtained from an intra-operative imaging system which is controlled by

    更新日期:2019-11-01
  • Representing, learning, and controlling complex object interactions.
    Auton. Robot. (IF 3.634) Pub Date : 2018-01-01
    Yilun Zhou,Benjamin Burchfiel,George Konidaris

    We present a framework for representing scenarios with complex object interactions, where a robot cannot directly interact with the object it wishes to control and must instead influence it via intermediate objects. For instance, a robot learning to drive a car can only change the car's pose indirectly via the steering wheel, and must represent and reason about the relationship between its own grippers

    更新日期:2019-11-01
  • On-board communication-based relative localization for collision avoidance in Micro Air Vehicle teams.
    Auton. Robot. (IF 3.634) Pub Date : 2018-01-01
    Mario Coppola,Kimberly N McGuire,Kirk Y W Scheper,Guido C H E de Croon

    To avoid collisions, Micro Air Vehicles (MAVs) flying in teams require estimates of their relative locations, preferably with minimal mass and processing burden. We present a relative localization method where MAVs need only to communicate with each other using their wireless transceiver. The MAVs exchange on-board states (velocity, height, orientation) while the signal strength indicates range. Fusing

    更新日期:2019-11-01
  • Solving the task variant allocation problem in distributed robotics.
    Auton. Robot. (IF 3.634) Pub Date : 2018-01-01
    José Cano,David R White,Alejandro Bordallo,Ciaran McCreesh,Anna Lito Michala,Jeremy Singer,Vijay Nagarajan

    We consider the problem of assigning software processes (or tasks) to hardware processors in distributed robotics environments. We introduce the notion of a task variant, which supports the adaptation of software to specific hardware configurations. Task variants facilitate the trade-off of functional quality versus the requisite capacity and type of target execution processors. We formalise the problem

    更新日期:2019-11-01
  • Grasp quality measures: review and performance.
    Auton. Robot. (IF 3.634) Pub Date : 2015-06-16
    Máximo A Roa,Raúl Suárez

    The correct grasp of objects is a key aspect for the right fulfillment of a given task. Obtaining a good grasp requires algorithms to automatically determine proper contact points on the object as well as proper hand configurations, especially when dexterous manipulation is desired, and the quantification of a good grasp requires the definition of suitable grasp quality measures. This article reviews

    更新日期:2019-11-01
  • Using virtual scans for improved mapping and evaluation.
    Auton. Robot. (IF 3.634) Pub Date : 2009-11-01
    Rolf Lakaemper,Nagesh Adluru

    In this paper we present a system to enhance the performance of feature correspondence based alignment algorithms for laser scan data. We show how this system can be utilized as a new approach for evaluation of mapping algorithms. Assuming a certain a priori knowledge, our system augments the sensor data with hypotheses ('Virtual Scans') about ideal models of objects in the robot's environment. These

    更新日期:2019-11-01
  • The Neurally Controlled Animat: Biological Brains Acting with Simulated Bodies.
    Auton. Robot. (IF 3.634) Pub Date : 2008-06-28
    Thomas B Demarse,Daniel A Wagenaar,Axel W Blau,Steve M Potter

    The brain is perhaps the most advanced and robust computation system known. We are creating a method to study how information is processed and encoded in living cultured neuronal networks by interfacing them to a computer-generated animal, the Neurally-Controlled Animat, within a virtual world. Cortical neurons from rats are dissociated and cultured on a surface containing a grid of electrodes (multi-electrode

    更新日期:2019-11-01
  • Robonaut: a robot designed to work with humans in space.
    Auton. Robot. (IF 3.634) Pub Date : 2003-04-22
    William Bluethmann,Robert Ambrose,Myron Diftler,Scott Askew,Eric Huber,Michael Goza,Fredrik Rehnmark,Chris Lovchik,Darby Magruder

    The Robotics Technology Branch at the NASA Johnson Space Center is developing robotic systems to assist astronauts in space. One such system, Robonaut, is a humanoid robot with the dexterity approaching that of a suited astronaut. Robonaut currently has two dexterous arms and hands, a three degree-of-freedom articulating waist, and a two degree-of-freedom neck used as a camera and sensor platform.

    更新日期:2019-11-01
  • A new method to evaluate human-robot system performance.
    Auton. Robot. (IF 3.634) Pub Date : 2003-04-22
    G Rodriguez,C R Weisbin

    One of the key issues in space exploration is that of deciding what space tasks are best done with humans, with robots, or a suitable combination of each. In general, human and robot skills are complementary. Humans provide as yet unmatched capabilities to perceive, think, and act when faced with anomalies and unforeseen events, but there can be huge potential risks to human safety in getting these

    更新日期:2019-11-01
  • Space robotics--DLR's telerobotic concepts, lightweight arms and articulated hands.
    Auton. Robot. (IF 3.634) Pub Date : 2003-04-22
    G Hirzinger,B Brunner,K Landzettel,N Sporer,J Butterfass,M Schedl

    The paper briefly outlines DLR's experience with real space robot missions (ROTEX and ETS VII). It then discusses forthcoming projects, e.g., free-flying systems in low or geostationary orbit and robot systems around the space station ISS, where the telerobotic system MARCO might represent a common baseline. Finally it describes our efforts in developing a new generation of "mechatronic" ultra-light

    更新日期:2019-11-01
  • A model of cerebellar computations for dynamical state estimation.
    Auton. Robot. (IF 3.634) Pub Date : 2002-09-20
    M G Paulin,L F Hoffman,C Assad

    The cerebellum is a neural structure that is essential for agility in vertebrate movements. Its contribution to motor control appears to be due to a fundamental role in dynamical state estimation, which also underlies its role in various non-motor tasks. Single spikes in vestibular sensory neurons carry information about head state. We show how computations for optimal dynamical state estimation may

    更新日期:2019-11-01
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