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Relevant bibliographies by topics / Robots mobiles. Robots autonomes

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Academic literature on the topic 'Robots mobiles. Robots autonomes'

Author: Grafiati

Published: 4 June 2021

Last updated: 8 February 2022

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Journal articles on the topic "Robots mobiles. Robots autonomes"

1

Benmachiche, Abdelmadjid, Bouhadada Tahar, Laskri Mohamed Tayeb, and Zendi Asma. "A dynamic navigation for autonomous mobiles robots." Intelligent Decision Technologies 10, no. 1 (January 21, 2016): 81–91. http://dx.doi.org/10.3233/idt-150239.

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Shinchi, T., M. Tabuse, T. Kitazoe, and A. Todaka. "Khepera robots applied to highway autonomous mobiles." Artificial Life and Robotics 7, no. 3 (September 2003): 118–23. http://dx.doi.org/10.1007/bf02481159.

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Akai, Naoki, Yasunari Kakigi, Shogo Yoneyama, and Koichi Ozaki. "Development of Autonomous Mobile Robot that Can Navigate in Rainy Situations." Journal of Robotics and Mechatronics 28, no. 4 (August 19, 2016): 441–50. http://dx.doi.org/10.20965/jrm.2016.p0441.

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[abstFig src='/00280004/02.jpg' width='300' text='Navigation under strong rainy condition' ] The Real World Robot Challenge (RWRC), a technical challenge for mobile outdoor robots, has robots automatically navigate a predetermined path over 1 km with the objective of detecting specific persons. RWRC 2015 was conducted in the rain and every robot could not complete the mission. This was because sensors on the robots detected raindrops and the robots then generated unexpected behavior, indicating the need to study the influence of rain on mobile navigation systems – a study clearly not yet sufficient. We begin by describing our robot’s waterproofing function, followed by investigating the influence of rain on the external sensors commonly used in mobile robot navigation and discuss how the robot navigates autonomous in the rain. We conducted navigation experiments in artificial and actual rainy environments and those results showed that the robot navigates stably in the rain.

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Ma, Xi Pei, Bing Feng Qian, Song Jie Zhang, and Ye Wang. "Research on Technology and Application of Multi-Sensor Data Fusion for Indoor Service Robots." Applied Mechanics and Materials 651-653 (September 2014): 831–34. http://dx.doi.org/10.4028/www.scientific.net/amm.651-653.831.

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The autonomous navigation process of a mobile service robot is usually in uncertain environment. The information only given by sensors has been unable to meet the demand of the modern mobile robots, so multi-sensor data fusion has been widely used in the field of robots. The platform of this project is the achievement of the important 863 Program national research project-a prototype nursing robot. The aim is to study a mobile service robot’s multi-sensor information fusion, path planning and movement control method. It can provide a basis and practical use’s reference for the study of an indoor robot’s localization.

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Uchiyama, Naoki, Shigenori Sano, and Akihiro Yamamoto. "Sound source tracking considering obstacle avoidance for a mobile robot." Robotica 28, no. 7 (January 18, 2010): 1057–64. http://dx.doi.org/10.1017/s0263574709990919.

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SUMMARYSound source tracking is an important function for autonomous robots, because sound is omni-directional and can be recognized in dark environment. This paper presents a new approach to sound source tracking for mobile robots using auditory sensors. We consider a general type of two-wheeled mobile robot that has wide industrial applications. Because obstacle avoidance is also an indispensable function for autonomous mobile robots, the robot is equipped with distance sensors to detect obstacles in real time. To deal with the robot's nonholonomic constraint and combine information from the auditory and distance sensors, we propose a model reference control approach in which the robot follows a desired trajectory generated by a reference model. The effectiveness of the proposed method is confirmed by experiments in which the robot is expected to approach a sound source while avoiding obstacles.

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Takahashi, Kiyoaki, Takafumi Ono, Tomokazu Takahashi, Masato Suzuki, Yasuhiko Arai, and Seiji Aoyagi. "Performance Evaluation of Robot Localization Using 2D and 3D Point Clouds." Journal of Robotics and Mechatronics 29, no. 5 (October 20, 2017): 928–34. http://dx.doi.org/10.20965/jrm.2017.p0928.

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Autonomous mobile robots need to acquire surrounding environmental information based on which they perform their self-localizations. Current autonomous mobile robots often use point cloud data acquired by laser range finders (LRFs) instead of image data. In the virtual robot autonomous traveling tests we have conducted in this study, we have evaluated the robot’s self-localization performance on Normal Distributions Transform (NDT) scan matching. This was achieved using 2D and 3D point cloud data to assess whether they perform better self-localizations in case of using 3D or 2D point cloud data.

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Donoso-Aguirre, F., J. P. Bustos-Salas, M. Torres-Torriti, and A. Guesalaga. "Mobile robot localization using the Hausdorff distance." Robotica 26, no. 2 (March 2008): 129–41. http://dx.doi.org/10.1017/s0263574707003657.

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SUMMARYThis paper presents a novel method for localization of mobile robots in structured environments. The estimation of the position and orientation of the robot relies on the minimisation of the partial Hausdorff distance between ladar range measurements and a floor plan image of the building. The approach is employed in combination with an extended Kalman filter to obtain accurate estimates of the robot's position, heading and velocity. Good estimates of these variables were obtained during tests performed using a differential drive robot, thus demonstrating that the approach provides an accurate, reliable and computationally feasible alternative for indoor robot localization and autonomous navigation.

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Samadi Gharajeh, Mohammad, and Hossein B. Jond. "Speed Control for Leader-Follower Robot Formation Using Fuzzy System and Supervised Machine Learning." Sensors 21, no. 10 (May 14, 2021): 3433. http://dx.doi.org/10.3390/s21103433.

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Mobile robots are endeavoring toward full autonomy. To that end, wheeled mobile robots have to function under non-holonomic constraints and uncertainty derived by feedback sensors and/or internal dynamics. Speed control is one of the main and challenging objectives in the endeavor for efficient autonomous collision-free navigation. This paper proposes an intelligent technique for speed control of a wheeled mobile robot using a combination of fuzzy logic and supervised machine learning (SML). The technique is appropriate for flexible leader-follower formation control on straight paths where a follower robot maintains a safely varying distance from a leader robot. A fuzzy controller specifies the ultimate distance of the follower to the leader using the measurements obtained from two ultrasonic sensors. An SML algorithm estimates a proper speed for the follower based on the ultimate distance. Simulations demonstrated that the proposed technique appropriately adjusts the follower robot’s speed to maintain a flexible formation with the leader robot.

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Sasaki, Yoko, Saori Masunaga, Simon Thompson, Satoshi Kagami, and Hiroshi Mizoguchi. "Sound Localization and Separation for Mobile Robot Tele-Operation by Tri-Concentric Microphone Array." Journal of Robotics and Mechatronics 19, no. 3 (June 20, 2007): 281–89. http://dx.doi.org/10.20965/jrm.2007.p0281.

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The paper describes a tele-operated mobile robot system which can perform multiple sound source localization and separation using a 32-channel tri-concentric microphone array. Tele-operated mobile robots require two main capabilities: 1) audio/visual presentation of the robot’s environment to the operator, and 2) autonomy for mobility. This paper focuses on the auditory system of a tele-operated mobile robot in order to improve both the presentation of sound sources to the operator and also to facilitate autonomous robot actions. The auditory system is based on a 32-channel distributed microphone array that uses highly efficient directional design for localizing and separating multiple moving sound sources. Experimental results demonstrate the feasibility of inter-person distant communication through the tele-operated robot system.

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Kudriashov, Andrii, Tomasz Buratowski, Jerzy Garus, and Mariusz Giergiel. "3D Environment Exploration with SLAM for Autonomous Mobile Robot Control." WSEAS TRANSACTIONS ON SYSTEMS AND CONTROL 16 (August 2, 2021): 450–56. http://dx.doi.org/10.37394/23203.2021.16.40.

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In the paper a solution for building of 3D map of unknown terrain for the purposes of control of wheeled autonomous mobile robots operating in an isolated and hard-access area is described. The work environment is represented by a three-dimensional occupancy grid map built with SLAM techniques using LIDAR sensor system. Probabilistic methods such as adaptive Monte Carlo localization and extended Kalman filter are used to concurrently build a map of surroundings and a robot’s pose estimation. A robot’s displacement and orientation are obtained from odometry and inertial navigation system. All algorithms and sub-systems have been implemented and verified with Robot Operation System with a framework for exploration tasks in multi-level buildings

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Dissertations / Theses on the topic "Robots mobiles. Robots autonomes"

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Vu, Minh Tuan. "Communication visuelle par signalement lumineux avec un robot mobile." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 2000. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape4/PQDD_0030/MQ67417.pdf.

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Létourneau, Dominic. "Interprétation visuelle de symboles par un robot mobile." Sherbrooke : Université de Sherbrooke, 2002.

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3

Alami, Rachid. "Robots autonomes : du concept au robot. Architectures, représentations et algorithmes." Habilitation à diriger des recherches, Université Paul Sabatier - Toulouse III, 1996. http://tel.archives-ouvertes.fr/tel-00165562.

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Le travail présenté procède de l'ambition de doter le robot d'un haut niveau de flexibilité et d'adaptation à la tâche en présence d'imprécisions et d'incertitudes liées à celle-ci et à son état interne. Ceci se traduit par le développement de concepts et d'outils visant à permettre au robot de planifier sa tâche et d'en contrôler l'exécution. Une première partie porte sur l'élaboration d'architectures permettant d'intégrer les composantes décisionnelle et fonctionnelle et de mettre en \oe uvre des processus bouclés sur la tâche et sur l'environnement à différents niveaux d'abstraction. Elle présente notamment une architecture de contrôle générique permettant à la fois l'élaboration d'un plan d'actions (processus généralement coûteux en temps calcul et non borné dans le temps), et la disponibilité permanente dans un environnement évolutif (réactivité). Un deuxième aspect concerne le développement de représentations et d'algorithmiques pour la planification et l'interprétation de plans: planification logique et temporelle (au niveau de la mission) mais aussi planification géométrique (plus proche de la tâche). Les contributions portent sur la planification de mission avec prise en compte de contraintes temporelles et du non-déterminisme, la coopération multi-robot, la planification des tâches de manipulation, ainsi que la planification de stratégies de déplacement pour un robot mobile en présence d'incertitudes. La dernière partie présente la réalisation effective de systèmes robotiques complets démontrant les capacités développées et servant de support de validation et d'aiguillons exigeants à l'extension de ces mêmes capacités.

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FABIANI, LIONEL. "Une methodologie statistique pour l'evaluation de robots mobiles autonomes." Paris 6, 2000. http://www.theses.fr/2000PA066505.

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Les applications de robots mobiles liees aux sites non cooperatifs et hostiles tels que l'industrie nucleaire ou l'investigation planetaire sont nombreuses et presentent des enjeux importants. Pour ces differents modes d'exploitation, il est necessaire de concevoir des robots specifiques caracterises par la realisation de taches dans des environnements peu ou non connus. Cette propriete intrinseque du mode applicatif choisi restreint le choix et les differentes composantes du robot. En effet, il est necessaire de doter ces robots mobiles de fonctionnalites leur permettant de s'adapter aux conditions effectives de la tache en temps reel. Le systeme doit necessairement inclure des capacites de prise de decision autonomes en adequation avec la dynamique de l'environnement. Par consequence, la selection du robot et de son architecture informatique ne peuvent pas etre effectuees par hasard : seule une architecture de type reactive peut proposer une solution au probleme pose. L'objectif de ce document est de proposer une methode combinee d'analyse / synthese de robots mobiles autonomes. Ces deux specificites permettent soit d'evaluer ou de concevoir, au travers de choix multiples, un systeme autonome le plus adapte aux objectifs et a l'environnement de la mission. La methode choisie s'articule autour de simulations statistiques du fait de la complexite des experimentations a effectuer ainsi que de la meconnaissance de la position et de la densite des obstacles dans l'environnement. Cette methodologie se concentre donc autour de nombreux tests qui permettent, via des moyennes et des tests de validite, d'evaluer la performance etablie par le robot pour effectuer une mission basique, aller d'un point de depart a un point d'arrivee. Cette particularite s'accompagne de la definition d'indices pertinents mono ou multi criteres lies au robot, a la mission ou a l'environnement. De meme que l'analyse est effectuee, une synthese peut etre entreprise a partir de celle-ci. Son objectif est d'utiliser l'outil precedemment etabli tout en proposant des modifications internes des composantes du robot mobile pour effectuer de facon optimale la mission choisie. Des methodes d'optimisation sont alors choisies et simulees pour montrer l'apport de cette approche. Des experimentations simples sont alors entreprises pour prouver l'interet et le bien fonde de cette methode generale. Celles-ci, meme par leur caractere simpliste, sont alors le garant de la methode hors-ligne pour l'analyse / synthese de robots mobiles autonomes.

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Ahle, Elmar. "Autonomous systems : a cognitive oriented approach applied to mobile robotics /." Aachen : Shaker, 2007. http://catalogue.bnf.fr/ark:/12148/cb41447189p.

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Mourioux, Gilles. "Proposition d'une architecture multifonctions pour l'autonomie globale des robots." Orléans, 2006. http://www.theses.fr/2006ORLE2022.

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Le travail présenté dans ce mémoire propose une solution pour l’amélioration de « l’autonomie globale » d’un système robotisé. Celle-ci est l’association d’autonomies de deux natures, une liée à une architecture structurelle et l’autre liée à l’architecture de commande. Après une étude des solutions cinématiques existantes en robotique mobile à roues, il est montré comment on peut apporter un maximum d’autonomie de déplacement à un robot mobile en se focalisant sur son architecture structurelle. Le résultat obtenu est un robot omnidirectionnel. Cet aspect ne représente qu’une partie de l’amélioration de l’autonomie. En effet, le concept « d’autonomie globale » consiste à compléter le travail sur l’architecture structurelle par une amélioration de l’architecture de commande. Fait alors suite une étude bibliographique des architectures de commandes existantes allant jusqu’à la prise en compte des architectures logicielles. Une solution modulaire, hiérarchique, multi-niveaux permettant de représenter l’ensemble des niveaux d’autonomie attendus pour un robot autonome est développée. Elle a comme spécificité l’intégration avancée de la télé-opération. Ceci permet d’augmenter le nombre de modes de fonctionnements disponibles et aussi de pouvoir construire progressivement l’architecture de commande. Différentes applications ont été réalisées sur la base de cette architecture : la diversité des robots utilisés (robot omnidirectionnel, robot mobile embarquant des télémètres, robot médical porte-sonde) montre l’aspect générique donné à cette architecture

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DE, MEDEIROS Adelardo A. D. "Contrôle d'exécution pour robots mobiles autonomes: architecture, spécification et validation." Phd thesis, Université Paul Sabatier - Toulouse III, 1997. http://tel.archives-ouvertes.fr/tel-00010029.

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Le travail présenté dans le mémoire traite des problèmes liés au contrôle d'exécution des actions des robots mobiles autonomes. Une première partie présente l'architecture de contrôle globale et la compare à d'autres approches. On décrit les niveaux hiérarchiques qui la constituent et leurs rôles dans le fonctionnement du système. Le niveau inférieur, composé d'un ensemble de modules, rassemble les fonctions de perception, de modélisation et d'action du système. La seconde partie présente le niveau exécutif. L'exécutif doit suivre l'exécution des fonctions, résoudre les conflits entre modules, accomplir certaines actions réflexes et maintenir une information sur l'utilisation des ressources non partageables du robot. Il peut être vu comme un ensemble d'automates, qui interagissent et changent d'état selon les requêtes qui arrivent du niveau supérieur et les répliques qui proviennent des modules. La mise en oeuvre de l'exécutif utilise le système à base de règles KHEOPS. La compilation faite par KHEOPS permet, à partir d'un ensemble de variables d'entrée et de sortie et des règles qui les relient, d'obtenir un arbre de décision équivalent et de profondeur connue, ce qui garantit un temps d'exécution borné pour l'exécutif. La compilation permet aussi de garantir certaines propriétés logiques des automates mis en place. La troisième partie présente les relations entre le niveau fonctionnel (modules et exécutif) et la couche immédiatement supérieure, le niveau tache. Ce niveau est basé sur le système PRS, qui transforme des taches de haut niveau d'abstraction en procédures d'actions reconnues par le niveau fonctionnel et surveille leur exécution. Le mémoire présente une équivalence entre un sous-ensemble de PRS et les réseaux de Pétri colorés, ce qui permet de faire une vérification du niveau tache quand l'équivalence existe. Enfin, on présente quelques rés ultats de la mise en oeuvre expérimentale de ces travaux avec le robot Hilare 2.

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Medeiros, Adelardo Adelino Dantas de. "Contrôle d'exécution pour robots mobiles autonomes : architecture, spécification et validation." Toulouse 3, 1997. http://www.theses.fr/1997TOU30027.

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Le travail présente dans le mémoire traite des problèmes liés au contrôle d'exécution des actions des robots mobiles autonomes. Une première partie présente l'architecture de contrôle globale et la compare à d'autres approches. On décrit les niveaux hiérarchiques qui la constituent et leurs rôles dans le fonctionnement du système. Le niveau inférieur, compose d'un ensemble de modules, rassemble les fonctions de perception, de modélisation et d'action du système. La seconde partie présente le niveau exécutif. L'exécutif doit suivre l'exécution des fonctions, résoudre les conflits entre modules, accomplir certaines actions reflexes et maintenir une information sur l'utilisation des ressources non partageables du robot. Il peut être vu comme un ensemble d'automates, qui interagissent et changent d'état selon les requêtes qui arrivent du niveau supérieur et les répliques qui proviennent des modules. La mise en oeuvre de l'exécutif utilise le système à base de règles kheops. La compilation faite par kheops permet, à partir d'un ensemble de variables d'entrée et de sortie et des règles qui les relient, d'obtenir un arbre de décision équivalent et de profondeur connue, ce qui garantit un temps d'exécution borne pour l'exécutif. La compilation permet aussi de garantir certaines propriétés logiques des automates mis en place. La troisième partie présente les relations entre le niveau fonctionnel (modules et exécutif) et la couche immédiatement supérieure, le niveau tache. Ce niveau est basé sur le système prs, qui transforme des taches de haut niveau d'abstraction en procédures d'actions reconnues par le niveau fonctionnel et surveille leur exécution. Le mémoire présente une équivalence entre un sous-ensemble de prs et les réseaux de petri colores, ce qui permet de faire une vérification du niveau tache quand l'équivalence existe. Enfin, on présente quelques résultats de la mise en oeuvre expérimentale de ces travaux avec le robot hilare 2.

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Courbon, Jonathan. "Navigation de Robots Mobiles par Mémoire Sensorielle." Phd thesis, Université Blaise Pascal - Clermont-Ferrand II, 2009. http://tel.archives-ouvertes.fr/tel-00664837.

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Ce travail de thèse présente un système complet de navigation pour un robot mobile fondé sur une représentation de l'environnement par une mémoire sensorielle. L'objectif de ces travaux est de faire se déplacer un robot d'un lieu à un autre le long de chemins parcourus lors d'une phase d'apprentissage. La structuration de la mémoire sensorielle, constituée de données clés acquises lors de cette phase initiale, est tout d'abord décrite. Nous proposons ensuite des lois de commande permettant le suivi d'une route sensorielle, c'est-à-dire une séquence d'images clés à atteindre successivement et permettant d'aller de l'image correspondant à la localisation initiale du robot à une image cible. Ces lois de commande, basées sur le formalisme de la commande référencée capteurs, prennent en compte les contraintes de déplacement des véhicules considérés: robots à roues non-holonomes et robots aériens de type quadrirotor. Dans le cadre de capteurs visuels omnidirectionels ou grand-angle, nous présentons une approche efficace pour la localisation initiale du robot ainsi que les outils permettant l'estimation de l'état du véhicule nécessaire pour alimenter les lois de commande proposées. Le système complet de navigation a été mis en oeuvre avec une attention particulière portée sur la conception du système de gestion de la mémoire sensorielle. Des applications sur plusieurs types de véhicules et avec des caméras grand-angle ont permis de valider notre approche.

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Mansard, Nicolas Chaumette François. "Enchaînement de tâches robotiques." [S.l.] : [s.n.], 2006. ftp://ftp.irisa.fr/techreports/theses/2006/mansard.pdf.

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Books on the topic "Robots mobiles. Robots autonomes"

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Finn, Anthony. Developments and challenges for autonomous unmanned vehicles: A compendium. Berlin: Springer Verlag, 2010.

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Designing mobile autonomous robots. Amsterdam: Elsevier Newnes, 2004.

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1970-, Nourbakhsh Illah Reza, and Scaramuzza Davide, eds. Introduction to autonomous mobile robots. 2nd ed. Cambridge, MA: MIT Press, 2011.

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Hope, Julian Charles. Global navigation for autonomous mobile robots. Salford: University of Salford, 1992.

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Schmidt, Günther, ed. Information Processing in Autonomous Mobile Robots. Berlin, Heidelberg: Springer Berlin Heidelberg, 1991. http://dx.doi.org/10.1007/978-3-662-07896-9.

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Ein resourcen-adaptives, informiertes Suchverfahren für autonome mobile Roboter. Stuttgart: Ibidem-Verlag, 1999.

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Mullane, John. Random Finite Sets for Robot Mapping and SLAM: New Concepts in Autonomous Robotic Map Representations. Berlin, Heidelberg: Springer Berlin Heidelberg, 2011.

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Autonomous mobile robots: Vehicles with cognitive control. Singapore: World Scientific, 1991.

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Pischeltsrieder, Klaus. Steuerung autonomer mobiler Roboter in der Produktion. Berlin: Springer Verlag, 1996.

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Miller, Richard Kendall. Survey on autonomous vehicle guidance systems. Madison, GA: Future Technology Surveys, 1989.

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Book chapters on the topic "Robots mobiles. Robots autonomes"

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Fahimi, Farbod. "Mobile Robots." In Autonomous Robots, 1–58. Boston, MA: Springer US, 2008. http://dx.doi.org/10.1007/978-0-387-09538-7_6.

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Li, Sheng. "Coordinating Multiple Mobile Robots Through Local Inter-Robot Communication." In Distributed Autonomous Robotic Systems, 190–98. Tokyo: Springer Japan, 1994. http://dx.doi.org/10.1007/978-4-431-68275-2_17.

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Ballantyne, James, Edward Johns, Salman Valibeik, Charence Wong, and Guang-Zhong Yang. "Autonomous Navigation for Mobile Robots with Human-Robot Interaction." In Advanced Information and Knowledge Processing, 245–68. London: Springer London, 2010. http://dx.doi.org/10.1007/978-1-84996-329-9_12.

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Heppner, Georg, and Ruediger Dillmann. "Autonomy of Mobile Robots." In Dehumanization of Warfare, 77–98. Cham: Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-67266-3_5.

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Kanjanawanishkul, Kiattisin, Marius Hofmeister, and Andreas Zell. "Coordinated Path Following for Mobile Robots." In Autonome Mobile Systeme 2009, 185–92. Berlin, Heidelberg: Springer Berlin Heidelberg, 2009. http://dx.doi.org/10.1007/978-3-642-10284-4_24.

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Ramroop, Sarika, Farshad Arvin, Simon Watson, Joaquin Carrasco-Gomez, and Barry Lennox. "A Bio-inspired Aggregation with Robot Swarm Using Real and Simulated Mobile Robots." In Towards Autonomous Robotic Systems, 317–29. Cham: Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-96728-8_27.

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Millán, José Del R., Carme Torras, and Marc Becquet. "Autonomous Mobile Robots and Teleoperation." In Teleoperation: Numerical Simulation and Experimental Validation, 41–53. Dordrecht: Springer Netherlands, 1992. http://dx.doi.org/10.1007/978-94-011-2648-9_6.

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Rigatos, Gerasimos G. "Mobile Robots and Autonomous Vehicles." In Modelling and Control for Intelligent Industrial Systems, 45–63. Berlin, Heidelberg: Springer Berlin Heidelberg, 2011. http://dx.doi.org/10.1007/978-3-642-17875-7_3.

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Egerstedt, Magnus. "Control of Autonomous Mobile Robots." In Handbook of Networked and Embedded Control Systems, 767–78. Boston, MA: Birkhäuser Boston, 2005. http://dx.doi.org/10.1007/0-8176-4404-0_33.

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Chatterjee, Amitava, Anjan Rakshit, and N. Nirmal Singh. "Mobile Robot Navigation." In Vision Based Autonomous Robot Navigation, 1–20. Berlin, Heidelberg: Springer Berlin Heidelberg, 2013. http://dx.doi.org/10.1007/978-3-642-33965-3_1.

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Conference papers on the topic "Robots mobiles. Robots autonomes"

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Da Silva, Diego Alves, Aline Geovanna Soares, Antonio Lundgren, Estanislau Lima, and Byron Leite Dantas Bezerra. "NAO-Read: Empowering the Humanoid Robot NAO to Recognize Texts in Objects in Natural Scenes." In Conference on Graphics, Patterns and Images. Sociedade Brasileira de Computação, 2020. http://dx.doi.org/10.5753/sibgrapi.est.2020.12999.

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Robotics is a field of research that has undergone several changes in recent years. Currently, robot applications are commonly used for many applications, such as pump deactivation, mobile robotic manipulation, etc. However, most robots today are programmed to follow a predefined path. This is sufficient when the robot is working in a settled environment. Nonetheless, for many tasks, autonomous robots are needed. In this way, NAO humanoid robots constitute the new active research platform within the robotics community. In this article, we present a vision system that connects to the NAO robot, allowing robots to detect and recognize the visible text present in objects in images of natural scenes and use that knowledge to interpret the content of a given scene. The proposed vision system is based on deep learning methods and was designed to be used by NAO robots and consists of five stages: 1) capturing the image; 2) after capturing the image, the YOLOv3 algorithm is used for object detection and classification; 3) selection of the objects of interest; 4) text detection and recognition stage, based on the OctShuffleMLT approach; and 5) synthesis of the text. The choice of these models was due to the better results obtained in the COCO databases, in the list of objects, and in the ICDAR 2015, in the text list, these bases are very similar to those found with the NAO robot. Experimental results show that the rate of detecting and recognizing text from the images obtained through the NAO robot camera in the wild are similar to those presented in models pre-trained with natural scenes databases.

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Ong, Kai Wei, Gerald Seet, Siang Kok Sim, William Teoh, Kean Hee Lim, Ai Nee Yow, and Soon Chiang Low. "A Testbed for Human-Robot Interactions." In ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2004. http://dx.doi.org/10.1115/detc2004-57171.

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This paper describes the design and implementation of a testbed for facilitating the study of human-robot interactions (HRI). HRI has long been a part of robotics research, where humans were typically required to guide the robot task in progress and to ensure safe operation. The current state of human interaction with robots, versus simple “machines” (e.g. in manufacturing automation) is quite different. This called for the need to look into different interaction roles between humans and robots. Robots differ from simple machines in that they are mobile, some may be autonomous and hence not as predictable in their actions. To facilitate the research in this domain, the aim is to develop an easy to use and safe front-end human-robot system for human users to interact with physical mobile robots. This testbed provides different types of system configurations (i.e. one human to one robot, one human to multiple robots, etc.) and interfaces for conducting experiments under different HRI scenarios.

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Georgiou, Evangelos, Jian S. Dai, and Michael Luck. "The KCLBOT: The Challenges of Stereo Vision for a Small Autonomous Mobile Robot." In ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/detc2012-70503.

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In small mobile robot research, autonomous platforms are severely constrained in navigation environments by the limitations of accurate sensory data to preform critical path planning, obstacle avoidance and self-localization tasks. The motivation for this work is to enable small autonomous mobile robots with a local stereo vision system that will provide an accurate reconstruction of a navigation environment for critical navigation tasks. This paper presents the KCLBOT, which was developed in King’s College London’s Centre for Robotic Research and is a small autonomous mobile robot with a stereo vision system.

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Biswas, Joydeep. "The Quest For "Always-On" Autonomous Mobile Robots." In Twenty-Eighth International Joint Conference on Artificial Intelligence {IJCAI-19}. California: International Joint Conferences on Artificial Intelligence Organization, 2019. http://dx.doi.org/10.24963/ijcai.2019/893.

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Building ``always-on'' robots to be deployed over extended periods of time in real human environments is challenging for several reasons. Some fundamental questions that arise in the process include: 1) How can the robot reconcile unexpected differences between its observations and its outdated map of the world? 2) How can we scalably test robots for long-term autonomy? 3) Can a robot learn to predict its own failures, and their corresponding causes? 4) When the robot fails and is unable to recover autonomously, can it utilize partially specified, approximate human corrections to overcome its failures? We summarize our research towards addressing all of these questions. We present 1) Episodic non-Markov Localization to maintain the belief of the robot's location while explicitly reasoning about unmapped observations; 2) a 1,000km challenge to test for long-term autonomy; 3) feature-based and learning-based approaches to predicting failures; and 4) human-in-the-loop SLAM to overcome robot mapping errors, and SMT-based robot transition repair to overcome state machine failures.

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Khan, Muhammad Tahir, and Clarence de Silva. "Immune System-Inspired Dynamic Multi-Robot Coordination." In ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2009. http://dx.doi.org/10.1115/detc2009-87715.

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This paper investigates multi-robot coordination for the deployment of autonomous mobile robots in order to carry out a specific task. A key to utilizing of the full potential of cooperative multi-robot systems is effective and efficient multi-robot coordination. The paper presents a novel method of multi-robot coordination based on an Artificial Immune System. The developed approach relies on Jern’s Immune Network Theory, which concerns how an antibody stimulates or suppresses another antibody and recognizes non-self antigens. In the present work, the robots are analogous to antibodies and the robotic task is analogous to an antigen in a biological immune system. Furthermore, stimulation and suppression in an immune system correspond to communication among robots. The artificial immune system will select the appropriate number of antibodies autonomously to eliminate the antigens. The developed method of multirobot coordination is verified by computer simulation.

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Angatkina, Oyuna, Kimberly Gustafson, Aimy Wissa, and Andrew Alleyne. "Path Following for the Soft Origami Crawling Robot." In ASME 2019 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2019. http://dx.doi.org/10.1115/dscc2019-9175.

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Abstract Extensive growth of the soft robotics field has made possible the application of soft mobile robots for real world tasks such as search and rescue missions. Soft robots provide safer interactions with humans when compared to traditional rigid robots. Additionally, soft robots often contain more degrees of freedom than rigid ones, which can be beneficial for applications where increased mobility is needed. However, the limited number of studies for the autonomous navigation of soft robots currently restricts their application for missions such as search and rescue. This paper presents a path following technique for a compliant origami crawling robot. The path following control adapts the well-known pure pursuit method to account for the geometric and mobility constraints of the robot. The robot motion is described by a kinematic model that transforms the outputs of the pure pursuit into the servo input rotations for the robot. This model consists of two integrated sub-models: a lumped kinematic model and a segmented kinematic model. The performance of the path following approach is demonstrated for a straight-line following simulation with initial offset. Finally, a feedback controller is designed to account for terrain or mission uncertainties.

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Dharne, Avinash G., and Suhada Jayasuriya. "Robot Localization Using Fuzzy Logic." In ASME 2005 International Mechanical Engineering Congress and Exposition. ASMEDC, 2005. http://dx.doi.org/10.1115/imece2005-81052.

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Robot Localization is an issue of vital importance for the functioning of autonomous mobile robots. Location information, allows a robot to navigate complex environments and perform local tasks successfully. In mobile sensor networks, this information facilitates important functions like topology control, collision avoidance and development and security of routing protocols. This issue can be divided into the problems of global position estimation, and once that is achieved, of local position tracking. To tackle these, two distinct methods have been used in the past. One is the use of specialized hardware and another is the use of probabilistic Bayesian estimation methods. This paper proposes the use of Fuzzy Logic to tackle this problem. Fuzzy Logic allows us to do away with strict probabilistic rules and to set up heuristic fuzzy rules. It also reduces computation time. A grid-based map is used to describe the environment of the robot and the robot’s confidence in it’s position at each grid-point is determined using sensor measurements. In case the robot is receiving information from multiple sensors, this paper demonstrates the robustness of the scheme to inaccurate sensor information or robot confidence within practical limits. This paper also applies the fuzzy rules to track the robot’s position as it moves. In order to reduce computational cost, this paper proposes limiting the computation of confidences to significant grid-points only.

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Richert, Willi, Ulrich Scheller, Markus Koch, Bernd Kleinjohann, and Claudius Stern. "Increasing the Autonomy of Mobile Robots by Imitation in Multi-robot Scenarios." In 2009 Fifth International Conference on Autonomic and Autonomous Systems. IEEE, 2009. http://dx.doi.org/10.1109/icas.2009.21.

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Alomari, Muhannad, Paul Duckworth, Nils Bore, Majd Hawasly, David C. Hogg, and Anthony G. Cohn. "Grounding of Human Environments and Activities for Autonomous Robots." In Twenty-Sixth International Joint Conference on Artificial Intelligence. California: International Joint Conferences on Artificial Intelligence Organization, 2017. http://dx.doi.org/10.24963/ijcai.2017/193.

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With the recent proliferation of human-oriented robotic applications in domestic and industrial scenarios, it is vital for robots to continually learn about their environments and about the humans they share their environments with. In this paper, we present a novel, online, incremental framework for unsupervised symbol grounding in real-world, human environments for autonomous robots. We demonstrate the flexibility of the framework by learning about colours, people names, usable objects and simple human activities, integrating state-of-the-art object segmentation, pose estimation, activity analysis along with a number of sensory input encodings into a continual learning framework. Natural language is grounded to the learned concepts, enabling the robot to communicate in a human-understandable way. We show, using a challenging real-world dataset of human activities as perceived by a mobile robot, that our framework is able to extract useful concepts, ground natural language descriptions to them, and, as a proof-of-concept, generate simple sentences from templates to describe people and the activities they are engaged in.

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Liu, Hanyu, Xu Zhong, and Yu Zhou. "Design and Robust Recognition of Omnidirectional Landmarks for Indoor Mobile Robot Positioning." In ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2013. http://dx.doi.org/10.1115/detc2013-12256.

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In this paper, we present an omnidirectional artificial landmark model and a robust artificial landmark recognition algorithm for indoor mobile robot positioning. The landmark model encodes identities with nested circles in black and white, which provides stable edge response and enables strong tolerance to various lighting conditions and perspective distortions. The corresponding positioning system uses a single upward-facing webcam as the vision sensor to capture landmarks. To address the effect of the lighting and sensing noise, the topological contour analysis is applied to detect landmarks, and the dynamic illumination adjustment is used to assist landmark recognition. Based on the landmark recognition, the absolute position of the camera in the environment is estimated using a trilateration algorithm. The landmark model and positioning system are tested with a mobile robot in a real indoor environment. The results show that the purposed technique provides autonomous indoor positioning for mobile robots with high robustness and consistency.

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Reports on the topic "Robots mobiles. Robots autonomes"

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Leonard, John J. Cooperative Autonomous Mobile Robots. Fort Belvoir, VA: Defense Technical Information Center, July 2005. http://dx.doi.org/10.21236/ada463215.

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Olson, Edwin. JOMAR: Joint Operations with Mobile Autonomous Robots. Fort Belvoir, VA: Defense Technical Information Center, December 2015. http://dx.doi.org/10.21236/ada635952.

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EISLER, G. RICHARD. Robust Planning for Autonomous Navigation of Mobile Robots in Unstructured, Dynamic Environments: An LDRD Final Report. Office of Scientific and Technical Information (OSTI), August 2002. http://dx.doi.org/10.2172/801404.

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Gaudiano, Paolo. Adaptive Control and Navigation of Autonomous Mobile Robots. Fort Belvoir, VA: Defense Technical Information Center, August 2000. http://dx.doi.org/10.21236/ada381430.

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Sights, B., H. R. Everett, E. B. Pacis, G. Kogut, and M. Thompson. Integrated Control Strategies Supporting Autonomous Functionalities in Mobile Robots. Fort Belvoir, VA: Defense Technical Information Center, January 2005. http://dx.doi.org/10.21236/ada432959.

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Sofge, Donald, Magdalena Bugajska, William Adams, Dennis Perzanowski, and Alan Schultz. Agent-based Multimodal Interface for Dynamically Autonomous Mobile Robots. Fort Belvoir, VA: Defense Technical Information Center, January 2003. http://dx.doi.org/10.21236/ada434975.

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Blackburn, Michael R., and Hoa G. Nguyen. Autonomous Visual Control of a Mobile Robot. Fort Belvoir, VA: Defense Technical Information Center, November 1994. http://dx.doi.org/10.21236/ada422533.

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Bartos, R. J. System safety analysis of an autonomous mobile robot. Office of Scientific and Technical Information (OSTI), August 1994. http://dx.doi.org/10.2172/10170290.

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Flynn, Anita M., Rodney A. Brooks, William M. Wells, Barrett III, and David S. Squirt: The Prototypical Mobile Robot for Autonomous Graduate Students. Fort Belvoir, VA: Defense Technical Information Center, July 1989. http://dx.doi.org/10.21236/ada212337.

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Wehe, D. K. [Development of a semi-autonomous mobile robot for reactor containments]. Office of Scientific and Technical Information (OSTI), February 1993. http://dx.doi.org/10.2172/6683886.

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