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Robust by composition: Programs for multi-robot systems

Nils Napp, Eric Klavins
2010 2010 IEEE International Conference on Robotics and Automation  
The main contribution of this paper is a way to "robustify" programs for a class of concurrent multi-robot systems by taking advantage of the natural program composition that concurrent systems provide  ...  III, III-A and III-B lay the groundwork for defining robustness and performance in the context of the concurrent multi-robot systems under discussion and III-C develops two theorems about program composition  ... 
doi:10.1109/robot.2010.5509776 dblp:conf/icra/NappK10 fatcat:4nbnr2wcsnfdrekveiscwmqbs4

Robust and Incremental Robot Learning by Imitation

Roberto Capobianco
2014 International Conference of the Italian Association for Artificial Intelligence  
For this reason, the challenge of our research is to find alternative methods for incremental, multi-teacher LbI.  ...  In the last years, Learning by Imitation (LbI) has been increasingly explored in order to easily instruct robots to execute complex motion tasks.  ...  By providing a human-friendly interface for programming by demonstration, such methods can support the deployment of robotics in domestic and industrial environments.  ... 
dblp:conf/aiia/Capobianco14 fatcat:7xtrriceajfwriorzppczl3c7u

Robust Estimation by Drone for Surveillance and Bomb Detection using Actuators

2019 International Journal of Engineering and Advanced Technology  
The device is not restricted to the variation inside the finger sizes thereby imparting accuracy and comfort for the robotic control. The system is ready with bomb detection and diffusion mechanism.  ...  The new glove system is a wi-fi and self-contained machine that's established at the user arm in an effort to control the motion of the robot.  ...  Yue Wang , Yanmei Jiao, Rong Xiong, Hongsheng Yu, Jiafan Zhang, and Yong Liu(2018) -MASD: A Multimodal Assembly Skill Decoding System for Robot Programming by Demonstration‖ IEEE transactions on automation  ... 
doi:10.35940/ijeat.f1269.0986s319 fatcat:hf76fzneanejdhwrqb2lrnuzkm

A Robust and Efficient Method for Solving Point Distance Problems by Homotopy [article]

Rémi Imbach
2016 arXiv   pre-print
We address this problem by changing on-the-fly the construction plan.Numerical results show that this hybrid method is efficient and robust.  ...  However the number of solutions can be exponential and methods should provide solutions close to a sketch drawn by the user.Geometric reasoning can help to simplify the underlying system of equations by  ...  It is interpreted by a multi-function that maps to a value A i of A i the two possible intersection locii of objects defined by A i .  ... 
arXiv:1503.07901v3 fatcat:io3djeekajanxe7o4qpgzydtza

Autonomous Manufacturing of Composite Parts by a Multi-Robot System

Alfons Schuster, Michael Kupke, Lars Larsen
2017 Procedia Manufacturing  
This work considers an autonomous multi-robot pick-and-place process for the manufacturing of aerospace structures, which consists of the steps picking, transfer, dropping and post-drop treatment.  ...  Autonomous production is achieved by combining computer vision assisted gripping, automated transfer path generation and generic process execution in one system.  ...  Further shortcomings are in the field of sensor integration and in multi-robot processes. This is where autonomous manufacturing systems for multi-robot applications come to turn.  ... 
doi:10.1016/j.promfg.2017.07.238 fatcat:motibyd2ijb65gou4rfxm2ssim

Multi-agent Behavior Composition through Adaptable Software Architectures and Tangible Interfaces [chapter]

Gabriele Randelli, Luca Marchetti, Francesco Antonio Marino, Luca Iocchi
2011 Lecture Notes in Computer Science  
The availability of modern input devices can ease the behavior composition process, allowing a user to train Multi-Agent Systems by using alternative methods.  ...  Cooperative behavior realization is an important aspect of Multi-Agent Systems, and it has been widely addressed by the robotics community.  ...  Introduction Behavior composition is a key task for multi-robot systems in several applications, such as RoboCup soccer or Urban Search And Rescue.  ... 
doi:10.1007/978-3-642-20217-9_24 fatcat:ydcg72qykrbg7pbynwnvp75i6q

Composition of Vector Fields for Multi-Robot Manipulation via Caging

J. Fink, N. Michael, V. Kumar
2007 Robotics: Science and Systems III  
We present our experimental multi-robot system as well as simulation and experimental results that demonstrate the robustness of this approach.  ...  The controllers are obtained by sequential composition of vector fields or behaviors and enable decentralized computation based only on local information.  ...  This research was supported by: NSF grants CCR02-05336, NSF IIS-0413138, and IIS-0427313, and ARO Grants W911NF-04-1-0148 and W911NF-05-1-0219.  ... 
doi:10.15607/rss.2007.iii.004 dblp:conf/rss/FinkMK07 fatcat:xuzoi3dhf5fslm3yyed2yebc7q

Automatic tracking of mouse social posture dynamics by 3D videography, deep learning and GPU-accelerated robust optimization [article]

Christian L Ebbesen, Robert C Froemke
2020 bioRxiv   pre-print
Our system is capable of fully automatic multi-animal tracking during naturalistic social interactions and allows for simultaneous electrophys-iological recordings.  ...  We present a hardware/software system that combines 3D videography, deep learning, physical modeling and GPU-accelerated robust optimization.  ...  the development of real-540 time, multi-animal 3D tracking. 541 was not certified by peer review) is the author/funder.  ... 
doi:10.1101/2020.05.21.109629 fatcat:it2g7jctjzgzlafeucfglbpa4a

A Sequential Composition Framework for Coordinating Multi-Robot Behaviors [article]

Pietro Pierpaoli, Anqi Li, Mohit Srinivasan, Xiaoyi Cai, Samuel Coogan, Magnus Egerstedt
2020 arXiv   pre-print
A number of coordinated behaviors have been proposed for achieving specific tasks for multi-robot systems.  ...  Specifically, when the inter-agent communication depends on inter-robot distances, these constraints translate into particular configurations that must be reached in finite time in order for the system  ...  The resulting composition framework is formulated in the form of a quadratic program, which is solved locally by individual robots.  ... 
arXiv:1907.07718v2 fatcat:qjv34kmf5rbn5f5nfsdjrtm7ra

A robust and efficient method for solving point distance problems by homotopy

Rémi Imbach, Pascal Mathis, Pascal Schreck
2016 Mathematical programming  
Geometric reasoning can help to simplify the underlying system of equations by changing a few equations and triangularizing it.  ...  We address this problem by changing on-the-fly the construction plan. Numerical results show that this hybrid method is efficient and robust.  ...  It is interpreted by a multi-function that maps to a value A i of A i the two possible intersection locii of objects defined by A i .  ... 
doi:10.1007/s10107-016-1058-7 fatcat:3bs2blotwnbzvdoy5nmc7qauyu

Deformable and Robust Core–Shell Protein Microcapsules Templated by Liquid–Liquid Phase‐Separated Microdroplets

Yufan Xu, Yi Shen, Thomas C. T. Michaels, Kevin N. Baumann, Daniele Vigolo, Quentin Peter, Yuqian Lu, Kadi L. Saar, Dominic Vella, Hongjia Zhu, Bing Li, He Yang (+4 others)
2021 Advanced Materials Interfaces  
.), the Schmidt Science Fellowship program in partnership with the Rhodes Trust (K.L.S.), St John's College Cambridge (K.L.S.), China Scholarship Council (H.Z. and B.L.), EPSRC Cambridge NanoDTC (EP/037221  ...  cell aggregates for artificial tissues or organs, and multi-layer reactors at small or big scales  ...  These double-shell microcapsules can mimic complex natural hollow structures containing multicompartmentalized structures, such as multi-layer ECM constructs, or could be used as multi-layer carriers for  ... 
doi:10.1002/admi.202101071 fatcat:e2kxdxhyrbcw7fqztexloohxfi

A Framework for Efficient Service Composition in Cyber-Physical Systems

Jian Huang, Farokh B. Bastani, I-Ling Yen, Wenke Zhang
2010 2010 Fifth IEEE International Symposium on Service Oriented System Engineering  
The testbed currently enables us to perform waypoint navigation using a global positioning system (GPS).  ...  During the past few years, research in the field of cooperative control of swarm of robots and specially UAV has continuously increased.  ...  The future work will include: image processing of aerial images, development of algorithms based on consensus control for surveillance using a swarm of UAV, and optimization of the communication protocol  ... 
doi:10.1109/sose.2010.46 dblp:conf/sose/HuangBYZ10 fatcat:szupe47g3fabnfl3ufbug3prsi

Compositional Transfer in Hierarchical Reinforcement Learning [article]

Markus Wulfmeier, Abbas Abdolmaleki, Roland Hafner, Jost Tobias Springenberg, Michael Neunert, Tim Hertweck, Thomas Lampe, Noah Siegel, Nicolas Heess, Martin Riedmiller
2020 arXiv   pre-print
The successful application of general reinforcement learning algorithms to real-world robotics applications is often limited by their high data requirements.  ...  To this end, we employ compositional inductive biases on multiple levels and corresponding mechanisms for sharing off-policy transition data across low-level controllers and tasks as well as scheduling  ...  ACKNOWLEDGMENTS The authors would like to thank Michael Bloesch, Jonas Degrave, Joseph Modayil and Doina Precup for helpful discussion and relevant feedback for shaping our submission.  ... 
arXiv:1906.11228v3 fatcat:ipw6uxy4lzbbvizfhmuggj553m

Learning Compositional Neural Programs for Continuous Control [article]

Thomas Pierrot, Nicolas Perrin, Feryal Behbahani, Alexandre Laterre, Olivier Sigaud, Karim Beguir, Nando de Freitas
2021 arXiv   pre-print
The key insight is that the self-models enable planning by imagination, obviating the need for interaction with the world when learning higher-level compositional programs.  ...  Third, the self-models are harnessed to learn recursive compositional programs with multiple levels of abstraction.  ...  Acknowledgements Work by Nicolas Perrin was partially supported by the French National Research Agency (ANR), Project ANR-18-CE33-0005 HUSKI.  ... 
arXiv:2007.13363v2 fatcat:ywoyvjzfvngxbfjix4suwhxlmq

Enabling Force Sensing During Ground Locomotion: A Bio-Inspired, Multi-Axis, Composite Force Sensor Using Discrete Pressure Mapping

Meng Yee Chuah, Sangbae Kim
2014 IEEE Sensors Journal  
The experiment results demonstrates a proof-of-concept for a lightweight, low cost, yet robust footpad sensor suitable for use in legged robots undergoing ground locomotion.  ...  The paper presents a new force sensor design approach that maps the local sampling of pressure inside a composite polymeric footpad to forces in three axes, designed for running robots.  ...  This work was supported by the Defense Advanced Research Projects Agency (DARPA) Maximum Mobility and Manipulation (M3) program.  ... 
doi:10.1109/jsen.2014.2299805 fatcat:2e6e2uuvu5a43ka67xtjikclsi
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