Filters








27,427 Hits in 8.1 sec

Robot planning and control

Oussama Khatib, Sean Quinlan, David Williams
1997 Robotics and Autonomous Systems  
This article discusses the ongoing effort at Stanford University for the extension of real-time robot control capabilities in the context of integrated robot planning and control.  ...  Planning and control are two basic components of autonomous robot systems. In recent years, significant advances have been made in both these areas.  ...  End-effector dynamics The difficulty with joint space control techniques lies in the discrepancy between the space where robot tasks are specified and the space in which the control is taking place.  ... 
doi:10.1016/s0921-8890(96)00078-4 fatcat:yclfj44izjhlnafjoe3ydgs4li

Robotic control and motion planning

2012 2012 IEEE International Symposium on Industrial Electronics  
Robot is based on various control motions which is controlled by planning, Electronic sensor, Digital signals, Computer mechanics, Coordination, Actuation, Learning and adaptation.  ...  In this paper we present a probabilistic grid-based approach for modeling changing environments, which considered as the process of navigating the mobile robot around a configured space, which has a number  ...  Hundreds of small sensors, equipped with limited memory and multiple sensing capabilities which autonomously organize and reorganize themselves as ad hoc networks in response to task requirements and to  ... 
doi:10.1109/isie.2012.6237269 fatcat:y4pln2356ba3hmtjgrfpkanzdu

Diagrammatic reasoning for planning and intelligent control

2001 IEEE Control Systems  
Planning has to do with the definition of sequences of actions, or tasks, to attain complex goals.  ...  The relation between planning and control is traditionally considered hierarchical: planning is performed at a higher level of abstraction as compared with control.  ...  Robot localization on the basis of angular measures. Figure 28 . 28 Grasping tasks. Table 1.  ... 
doi:10.1109/37.915400 fatcat:dsfyq4epfnazzn4oc6vtkuu7uy

Experiments of Formation Control with Collisions Avoidance using the Null-Space-Based Behavioral Control

Gianluca Antonelli
2006 2006 14th Mediterranean Conference on Control and Automation  
the null-space projection to handle multiple, eventually conflicting, tasks.  ...  The proposed technique, namely the Null-Space-Based Behavioral Control, is a behavior based approach aimed at coordinating a platoon of mobile robots while performing different missions.  ...  Among the multiple approaches proposed in literature, a behavior based approach to control one single mobile robot were presented in [3] , [2] , namely the Null-Space-based Behavioral (NSB) control.  ... 
doi:10.1109/med.2006.236703 fatcat:6hbjg3fuavew3b2prnqanp4qea

Experiments of Formation Control with Collisions Avoidance using the Null-Space-Based Behavioral Control

Gianluca Antonelli, Filippo Arrichiello, Stefano Chiaverini
2006 2006 14th Mediterranean Conference on Control and Automation  
the null-space projection to handle multiple, eventually conflicting, tasks.  ...  The proposed technique, namely the Null-Space-Based Behavioral Control, is a behavior based approach aimed at coordinating a platoon of mobile robots while performing different missions.  ...  Among the multiple approaches proposed in literature, a behavior based approach to control one single mobile robot were presented in [3] , [2] , namely the Null-Space-based Behavioral (NSB) control.  ... 
doi:10.1109/med.2006.328869 fatcat:qd7uogvrsfdudnedwgqrp7b3eu

A NEW CONTROL FRAMEWORK FOR ROBOT SOCCER SYSTEM

Dong-Hun Lee, Seung-Min Baek, Tae-Kyung Moon, Chae-Wook Chung, Tae-Yong Kuc
2005 IFAC Proceedings Volumes  
Using the capability of self-localization and tracking with the sensor network, we show the proposed control framework can be applied to a large scale robot soccer system in which a large number of robots  ...  main computer to perform a distributed sensing and control for successful soccer game in X-large league Mirosot of FIRA [11] .  ...  multiple robots.  ... 
doi:10.3182/20050703-6-cz-1902.02090 fatcat:jebfmr6h3vcm3l3nshmjcrxj2m

Modularity in small distributed robots

Luis E. Navarro-Serment, Robert Grabowski, Christopher J. J. Paredis, Pradeep K. Khosla, Gerard T. McKee, Paul S. Schenker
1999 Sensor Fusion and Decentralized Control in Robotic Systems II  
Each of the robots, called Millibots, has only limited sensing, computation, and communication capabilities. However, by collaborating with other robots, they can still perform useful tasks.  ...  This paper describes the development of small mobile robots for collaborative surveillance tasks.  ...  This research is funded in part by the by the Distributed Robotics program of DARPA/ETO under contract DABT63-97-1-0003, and by the Institute for Complex Engineered Systems at Carnegie Mellon University  ... 
doi:10.1117/12.360351 fatcat:ayjcu4pn5rg7nowusgupeo7l4y

Three-dimensional multirobot formation control for target enclosing

Miguel Aranda, Gonzalo Lopez-Nicolas, Carlos Sagues, Michael M. Zavlanos
2014 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems  
This coordinate independence is achieved through the introduction in the cost function of a rotation matrix computed locally by each robot.  ...  This paper presents a novel method that enables a team of aerial robots to enclose a target in 3D space by attaining a desired geometric formation around it.  ...  We assume the robots' sensing ranges are sufficient to ensure that the control task is fulfilled if G c remains connected (e.g. considering a sensing graph, G s , equal to G c ).  ... 
doi:10.1109/iros.2014.6942584 dblp:conf/iros/ArandaLSZ14 fatcat:gfq6kywl3bhhbnfvto5bnf4d54

Behavior-Based Coordination in Multi-Robot Systems [chapter]

Chris Jones, Maja Mataric
2006 Automation and Control Engineering  
Communication was used to allow each robot to keep a local map of target movements within the robot's communication range but outside its sensing range. As a result, the  ...  In multitarget tracking, the goal is to have a set of robots with limited sensing ranges position and orient themselves such they are able to acquire and track multiple objects moving through their environment  ...  Each robot in the MRS operates under local sensing and control and is not aware of global information such as all other robot's positions and headings.  ... 
doi:10.1201/9781420019445.ch14 fatcat:mfr2u36yujbwlk2ft7h4pwwqda

Control sharing in human-robot team interaction

Selma Musić, Sandra Hirche
2017 Annual Reviews in Control  
One of the key research questions is how to combine human and robot team decision making and task execution capabilities, i.e. how control should be shared among them.  ...  Humans are capable of reasoning and planning, while robots are capable of performing tasks repetitively and precisely.  ...  We can conclude that tasks should be decomposed into multiple subtasks represented by stable global and local behaviors.  ... 
doi:10.1016/j.arcontrol.2017.09.017 fatcat:es2fkrtycnhsbf4xvvfiya4jeu

Evolutionary-Based Control Approaches for Multirobot Systems [chapter]

Jekanthan Thangavelautham, Timothy D., Gabriele M.T.
2008 Frontiers in Evolutionary Robotics  
Each robot can sense objects, other agents and empty space in the 5 (left) and 7 (right) shaded squares surrounding the robot As shown earlier with the heap formation task, decentralized control offers  ...  This act of performing staged evolution involves a human supervisor decomposing a walking gait task between local cyclic leg activity and global, gait coordination.  ...  This book addresses the issue in the context of a multi-robot system, in which multiple robots are evolved using EC to solve a cooperative task.  ... 
doi:10.5772/5447 fatcat:yynfj2bgundmdkz3qvu2bfobpe

Global behavior via cooperative local control

Cynthia L. Ferrell
1995 Autonomous Robots  
We found that implementing a complicated global control task with cooperating local controllers can e ectively control complex robots.  ...  Second, we explore the viability of using cooperation among local controllers to achieve coherent global behavior.  ...  This approach decomposes a di cult global control task of a complex robot into a multitude of simpler local control tasks for robotic subsystems.  ... 
doi:10.1007/bf00735430 fatcat:fqvyo5fj7jbpxoothlpipdpp2m

Learning task-space tracking control with kernels

Duy Nguyen-Tuong, Jan Peters
2011 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems  
While learning of task-space control mappings is globally ill-posed, it has been shown in recent work that it is locally a well-defined problem.  ...  Task-space tracking control is essential for robot manipulation. In practice, task-space control of redundant robot systems is known to be susceptive to modeling errors.  ...  However, despite being a globally ill-posed problem, learning such task-space control mapping is locally welldefined [7] , [8] .  ... 
doi:10.1109/iros.2011.6048038 fatcat:jfn5sqvgmfbtvill4745yo4voe

Learning task-space tracking control with kernels

Duy Nguyen-Tuong, J. Peters
2011 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems  
While learning of task-space control mappings is globally ill-posed, it has been shown in recent work that it is locally a well-defined problem.  ...  Task-space tracking control is essential for robot manipulation. In practice, task-space control of redundant robot systems is known to be susceptive to modeling errors.  ...  However, despite being a globally ill-posed problem, learning such task-space control mapping is locally welldefined [7] , [8] .  ... 
doi:10.1109/iros.2011.6094428 dblp:conf/iros/Nguyen-TuongP11 fatcat:mxpae4h7bfbqpdjc5rqgnx32ge

Swarm of robots flocking via the null-space-based behavioral control

Gianluca Antonelli, Filippo Arrichiello, Stefano Chiaverini
2009 2009 IEEE International Conference on Automation and Logistics  
The capability of grouping the robots is achieved resorting to a behavior-based approach, namely the Null-Space-based Behavioral (NSB) control.  ...  In this paper the problem of flocking together multiple robots is considered.  ...  Thus, flocking can be considered in Robotics a specific case of coordinated control of multiple robots that involves distribute sensing, exploration, coverage, search and rescue, etc; see [9] for a good  ... 
doi:10.1109/ical.2009.5262623 fatcat:dxoye4an7vh7fkajeuonfafbv4
« Previous Showing results 1 — 15 out of 27,427 results