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Knowledge-based Intelligent Diagnosis of Ground Robot Collision with Non Detectable Obstacles

José M. Alonso, Luis Magdalena, Serge Guillaume, Miguel A. Sotelo, Luis M. Bergasa, Manuel Ocaña, Ramón Flores
2007 Journal of Intelligent and Robotic Systems  
The robot is equipped with ultrasound sensors used for obstacle detection, but, in some cases, small obstacles are out of the range of the sensors and can be dragged by the robot without being detected  ...  The paper describes the application of fuzzy techniques to analyze motion problems in a mobile robot.  ...  The present paper describes one of the application problems of the ADVOCATE II project: Diagnosis of collision of a ground robot with non detectable obstacles, with the aim of providing recovery actions  ... 
doi:10.1007/s10846-006-9125-6 fatcat:t26c7ishrbbfzcv7elaaugog2a

Fuzzy reactive piloting for continuous driving of long range autonomous planetary micro-rovers

A. Martin-Alvarez, R. Volpe, S. Hayati, R. Petras
1999 1999 IEEE Aerospace Conference. Proceedings (Cat. No.99TH8403)  
and gyro; efficient stereo vision elevation maps based on grids; and fast reaction and planning for obstacle detection and obstacle avoidance based on simple IF-THEN expert system with fuzzy reasoning  ...  To achieve continuous driving, a complete set of techniques have been employed: fuzzy based controller; real time artificial intelligence reasoning; fast and robust rover position estimators based on odometry  ...  with the National Aeronautics and Space Administration.  ... 
doi:10.1109/aero.1999.793152 fatcat:p4mlbnifezfvnl3cir4bachzjy

Global methodology in control architecture to improve mobile robot reliability

B Durand, K Godary-Dejean, L Lapierre, D Crestani
2010 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Once detected, the functioning mode of the robot can be adapted according to the failure severity level to ensure the success of its mission.  ...  This paper presents a global methodology developed to increase the reliability of mobile robots.  ...  In [13] , in the IFREMER control architecture, Nana proposed to use an Intelligent Diagnosis System with a dedicated decisional module to detect and react to faults. B.  ... 
doi:10.1109/iros.2010.5649337 dblp:conf/iros/DurandGLC10 fatcat:qyplxmc3cvemxbckvik7piooja

Fault detection and fault tolerance methods for industrial robot manipulators based on hybrid intelligent approach

M. Dev Anand, T. Selvaraj, S. Kumanan
2012 Advances in Production Engineering & Management  
In this paper, a new approach hybrid intelligence based fault detection/tolerance for robot manipulators is discussed.  ...  One of the main issues in the design of fault detection system is to model the rigid link robotic manipulators with modeling uncertainties.  ...  Based on the failure to take an intelligent decision making with the help of the NF based FD system.  ... 
doi:10.14743/apem2012.4.144 fatcat:3bn6in53gzfzjpjwirerso3em4


Mostafa Moussid, Adil Sayouti, Hicham Medromi.
2017 International Journal of Advanced Research  
It can show a local map, with the obstacles detected by the UAV and the global map with trajectories and the available readings of the different sensors.  ...  to find the path between two consecutive destinations (considering all the non-moving obstacles).  ... 
doi:10.21474/ijar01/3196 fatcat:dnntv2qj7rbahbjao5zrq3gawy

The Challenges and Opportunities of Human-Centered AI for Trustworthy Robots and Autonomous Systems [article]

Hongmei He, John Gray, Angelo Cangelosi, Qinggang Meng, T.Martin McGinnity, Jörn Mehnen
2021 arXiv   pre-print
of RAS with respects to safety, security, health and HMI, while reflecting the requirements of ethics in the design of RAS.  ...  The trustworthiness of Robots and Autonomous Systems (RAS) has gained a prominent position on many research agendas towards fully autonomous systems.  ...  From the technical aspect, fault diagnosis technology can be divided into four categories: model-based fault diagnosis, signal-based fault diagnosis, knowledge-based and hybrid methods.  ... 
arXiv:2105.04408v1 fatcat:jvlx7lkjizgnbcu2t27ndi4l3q

Distributed surveillance and reconnaissance using multiple autonomous ATVs: CyberScout

M. Saptharishi, C. Spence Oliver, C.P. Diehl, K.S. Bhat, J.M. Dolan, A. Trebi-Ollennu, P.K. Khosla
2002 IEEE Transactions on Robotics and Automation  
In the area of vision-based surveillance, we have developed robust, efficient algorithms to detect, classify, and track moving objects of interest (person, people, or vehicle) with a static camera.  ...  detections), and can flag novel moving objects.  ...  This feedback helps us work with just grayscale imagery while performing just as well as color-based detection processes such as [2] .  ... 
doi:10.1109/tra.2002.804501 fatcat:52obe2qrvnemtlqkawafq5skde

Towards an Intelligent Wheelchair System for Users With Cerebral Palsy

Luis Montesano, Marta Diaz, Sonu Bhaskar, Javier Minguez
2010 IEEE transactions on neural systems and rehabilitation engineering  
Based on the experience with the subjects, an extensive evaluation of the intelligent wheelchair was provided from two perspectives: 1) based on the technical performance of the entire system and its components  ...  and 2) based on the behavior of the user (execution analysis, activity analysis, and competence analysis).  ...  Canalís for their help, comments, and work with the children during the project.  ... 
doi:10.1109/tnsre.2009.2039592 pmid:20071276 fatcat:gq3wbpxw5vg3lpdctuwkwvrohi

A Delay-tolerant, Potential field-based, Network Implementation of an Integrated Navigation System

Rachana Gupta, Ahmad Masoud, Mo-yuen Chow
2006 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems  
), and a remote computer server along with the necessary operator software interface.  ...  It focuses on finding compatible controller components that can be integrated via a host structure in a manner that makes it possible to network, in real-time, a webcam, an unmanned ground vehicle (UGV  ...  These restrictions are removed by using edge detection. (2) Definite knowledge of boundaries of obstacles: With template matching, the main controller only knows the location of the center of the template  ... 
doi:10.1109/iros.2006.281822 dblp:conf/iros/GuptaMC06 fatcat:sve7czghkvesrneb6hux43frsi

Fuzzy-Based Fault-Tolerant Control for Omnidirectional Mobile Robot

Ahmad M. Alshorman, Omar Alshorman, Muhammad Irfan, Adam Glowacz, Fazal Muhammad, Wahyu Caesarendra
2020 Machines  
To the best of our knowledge, this is the first fuzzy-based fault-tolerant controller for an omnidirectional robot.  ...  To make use of actuation generosity and the fuzzy fast response behavior compared to other non-linear controllers, a fuzzy-based fault-tolerant control for an omnidirectional mobile robot with four Mecanum  ...  When the robot moves in an environment with N physical dimensions, and it has geometrical constraints on due to the interaction with the ground, then this type of robots called a non-holonomic, and in  ... 
doi:10.3390/machines8030055 fatcat:bxvmzlak3jfcdjukqgdjlzzunu

Blockchain for Multi-Robot Collaboration to Combat COVID-19 and Future Pandemics [article]

S. H. Alsamhi, Brian Lee
2020 arXiv   pre-print
The framework of our conceptual proposed can increase the intelligence, decentralization, and autonomous operations of connected multi-robot collaboration in the blockchain network.  ...  Robots are a promising technology for providing many tasks such as spraying, disinfection, cleaning, treating, detecting high body temperature/mask absence, and delivering goods and medical supplies experiencing  ...  Measuring robots is used to measure the size of an obstacle and then relay information about the obstacle to manipulating robots to make a decision accordingly.  ... 
arXiv:2010.02137v1 fatcat:pyvp7e7zlvbqthejxss5cuccyq

A Delay-Tolerant Potential-Field-Based Network Implementation of an Integrated Navigation System

R.A. Gupta, A.A. Masoud, Mo-Yuen Chow
2010 IEEE transactions on industrial electronics (1982. Print)  
), and a remote computer server along with the necessary operator software interface.  ...  Thorough experimental results along with performance assessment and comparisons to a previously implemented NC are provided.  ...  These restrictions are removed by using edge detection. (2) Definite knowledge of boundaries of obstacles: With template matching, the main controller only knows the location of the center of the template  ... 
doi:10.1109/tie.2009.2026764 fatcat:r75xe33ganctxc5cuyv2jy2flm

Emulated haptic shared control for brain-computer interfaces improves human-robot cooperation

Marie-Pierre Pacaux-Lemoine, Lydia Habib, Nadia Sciacca, Tom Carlson
2020 2020 IEEE International Conference on Human-Machine Systems (ICHMS)  
The technological part is composed of a brain-computer interface and a visual interface to implement an "emulated haptic shared control" of the robot.  ...  Therefore, the objective is to design a Human-Machine System that enables the control of a robot using thoughts alone.  ...  The agent has more or less expertise or training to fulfil functions (based on knowledge, rules and skills [8] ), linked to expertise, experience and practices of agents with these functions.  ... 
doi:10.1109/ichms49158.2020.9209521 dblp:conf/ichms/Pacaux-LemoineH20 fatcat:oxinul7jknd6phuowtyva2b27i

Current advancements on autonomous mission planning and management systems: An AUV and UAV perspective

Adham Atyabi, Somaiyeh MahmoudZadeh, Samia Nefti-Meziani
2018 Annual Reviews in Control  
onboard intelligence.  ...  Advances in hardware technology have enabled more integration of sophisticated software, triggering progress in the development and employment of Unmanned Vehicles (UVs), and mitigating restraints for  ...  To this end, an on-board Intelligent Agent Architecture (IAA) and a ground-based Collaborative Decision Environment (CDE) are employed.  ... 
doi:10.1016/j.arcontrol.2018.07.002 fatcat:fq5q25mqgjhczjtojlganzrmue

Sensors and Sensing for Intelligent Vehicles

David Fernández Llorca, Iván García Daza, Noelia Hernández Parra, Ignacio Parra Alonso
2020 Sensors  
As a humble contribution to the advancement of vehicles endowed with intelligence, we organized the Special Issue on Intelligent Vehicles.  ...  Over the past decades, both industry and academy have made enormous advancements in the field of intelligent vehicles, and a considerable number of prototypes are now driving our roads, railways, air and  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/s20185115 pmid:32911787 pmcid:PMC7570960 fatcat:nglhjsaeubdytignfjk3gfr2wi
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