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Artificial Intelligence and Systems Theory: Applied to Cooperative Robots

Pedro U. Lima, Luis M. M. Custodio
2004 International Journal of Advanced Robotic Systems  
Our past and current research in soccer robotics includes cooperative sensor fusion for world modeling, object recognition and tracking, robot navigation, multi-robot distributed task planning and coordination  ...  The research has been developed under the SocRob project, carried out by the Intelligent Systems Laboratory at the Institute for Systems and Robotics -Instituto Superior Técnico (ISR/IST) in Lisbon.  ...  to optimize its performance but rather aiming at optimizing the overall system performance.  ... 
doi:10.5772/5630 fatcat:m7lgwibehrbb3akrmtoikscun4

From data-flow task to multitasking: applying the synchronous approach to active vision in robotics

E. Marchand, E. Rutten, F. Chaumette
1997 IEEE Transactions on Control Systems Technology  
In this paper, we apply the synchronous approach to real time active visual 3D reconstruction using a camera mounted on a robot end-effector.  ...  This reconstruction involves to be focused on each object; we thus present a perception strategy for sequencing several estimations, using task preemption and time intervals in Signal.  ...  Acknowledgment This work was partly supported by the MESR (French Ministry of the University and Research) within project VIA (Vision Intentionnelle et Action) and under contribution to a student grant  ... 
doi:10.1109/87.556025 fatcat:obqc7hiv4fhufijto5eastb2wi

The Fuzzy Sars'a'(λ) Learning Approach Applied to a Strategic Route Learning Robot Behaviour

T. Theodoridis, Huosheng Hu
2006 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems  
The robot explores its environment using its fixed experience provided by a discretized Fuzzy Logic controller, and then learns optimal policies to achieve goals in less time and less error.  ...  This paper presents a novel Fuzzy Sarsa(λ) Learning (FSλL) approach applied to a strategic route leaning task of a mobile robot.  ...  Furthermore, the FSλL approach can be applied as well in other robot tasks such as visual tracking, emotional behaviours, motion control etc.  ... 
doi:10.1109/iros.2006.282215 dblp:conf/iros/TheodoridisH06 fatcat:ztutfdpoizawnpj6wssgvkmdgu

LAMDA control approaches applied to trajectory tracking for mobile robots

L. Morales, M. Herrera, O. Camacho, P. Leica, J. Aguilar
2021 IEEE Access  
to the robot dynamics where the LAMDA approaches are applied.  ...  The paper proposes the design of a cascade control strategy composed of two controllers, the external controller based on a feedback linearization for the robot kinematics and the internal controller applied  ...  ACKNOWLEDGMENT The authors would like to thank the PIS-19-10 Project of the Escuela Politécnica Nacional for their sponsorship to realize this work.  ... 
doi:10.1109/access.2021.3062202 fatcat:csgvvnxlpbd3lcmfx64mnfhrf4

Nonlinear H(inf)˜ Control Applied to Biped Robots [chapter]

Adriano A. G. Siqueira, Marco H., Leonardo Tubot
2010 Climbing and Walking Robots  
Nonlinear Hcontrol In this work, nonlinear Hcontrol is applied to biped robots to increase the basin of attraction of the limit cycle and the robustness against disturbances.  ...  To do this, it is used the control strategy proposed in Section 3.2. The nonlinear Hcontrol is applied from the initial conditions to knee strike, considered as desired final position.  ...  /nonlinear-h-inf-control-applied-  ... 
doi:10.5772/8825 fatcat:x7xwah5ra5e7ngrrfgckqxc5k4

Model Predictive Control based on LMIs Applied to an Omni-Directional Mobile Robot

Humberto X. Araújo, André G.S. Conceição, Gustavo H.C. Oliveira, Jônatas Pitanga
2011 IFAC Proceedings Volumes  
The paper presents a methodology for state feedback MPC synthesis applied to the trajectory tracking control problem of a three wheeled omnidirectional mobile robot.  ...  It is shown that MPC concepts well established for robot applications, for instance, the use of open loop predictions, receding horizon control, constraints manipulation, are preserved in this new formulation  ...  In Jiang et al. [2005] , a tracking method for a mobile robot is presented, where the predictive control is used to predict the position and the orientation of the robot, while the fuzzy control is used  ... 
doi:10.3182/20110828-6-it-1002.03696 fatcat:4nrnayd7szbfjar3orrxwaw5ra

Advanced Dynamics Processes Applied to an Articulated Robot

Florian Ion Petrescu
2022 Processes  
If the speeds of the two electric motors (preferably stepper motors) areadapted to those recommended by the author, the controller (PID) used will have a very light load.  ...  The kinematic motion imposed by the indicated optimal speeds is dynamically and successfully checked by both methods used.  ...  Using successively Relation (6) (four times), for each element of the robot mechanism, one obtains the four equations that generate the moments of mechanical inertia (mass) reduced successively to each  ... 
doi:10.3390/pr10040640 fatcat:lbycpnzhojgl5jdxzbacxgdvoe

Modified Newton's method applied to potential field-based navigation for mobile robots

Jing Ren, K.A. McIsaac, R.V. Patel
2006 IEEE Transactions on robotics  
The actual trajectory could then be generated by exploiting other control methods to track the predefined path.  ...  roughly corresponds to the definition of oscillation in optimization theory, but also from unstable motions due to instability of the discrete system resulting from sampling of sensory inputs [8] .  ...  For example, in our previous work [1] , [15], a locomotion control system for a biped robot was developed using nonlinear oscillators.  ... 
doi:10.1109/tro.2006.870668 fatcat:ahg24cspbzb6pcn6s7ws3albda

A Human-Inspired Control Strategy for Improving Seamless Robot-To-Human Handovers

Paramin Neranon, Tanapong Sutiphotinun
2021 Applied Sciences  
This also provided significant satisfaction with the overall control performance in the robotic control system, in which the robot can dexterously pass the object to the receiver in a timely and natural  ...  One of the challenging aspects of robotics research is to successfully establish a human-like behavioural control strategy for human–robot handover, since a robotic controller is further complicated by  ...  the MATLAB discrete-time to continuous-time model conversion was then applied to determine the robotic transfer function into a continuous-time transfer function (𝐻𝑆𝑅 ) as formulated in Equation (  ... 
doi:10.3390/app11104437 fatcat:gp46f6n2cnczzdtjyzo5x7nhhy

Neural Nonlinear Model-Based Predictive Control with Fault Tolerance Characteristics Applied to a Robot Manipulator

Gabriel Hermann Negri, Mariana Santos Matos Cavalca, Luiz Antonio Celiberto Jr.
2017 International Journal of Innovative Computing, Information and Control  
In this report, the application of fault handling characteristics with a nonlinear model-based predictive control (NMPC) strategy applied to a robot manipulator model is presented.  ...  The results show that both methods improve the closed-loop response of the control system in comparison to NMPC without a specific fault handling strategy for a 50% actuator torque loss fault.  ...  In some cases, logical approaches or methods based on discrete event systems theory [6] can be used to detect and identify the occurrence of a determined fault.  ... 
doi:10.24507/ijicic.13.06.1981 fatcat:a4flesjr3ba2npptdbme5et6ui

Extended Kalman Filtering Applied to a Two-Axis Robotic Arm with Flexible Links

Vatchara Lertpiriyasuwat, Martin C. Berg, Keith W. Buffinton
2000 The international journal of robotics research  
An industrial robot today uses measurements of its joint positions and models of its kinematics and dynamics to estimate and control its end-effector position.  ...  The subject of this paper is extended Kalman filtering for precise estimation of the position of the end-effector of a robot using, in addition to the usual measurements of the joint positions, direct  ...  Westmore and Wilson (1991) developed an object tracking control strategy for industrial robots that used an EKF to estimate the position of the target object relative to the endeffector, and to predict  ... 
doi:10.1177/02783640022066851 fatcat:j2ekto7erzg47ir5jv3jkknw6a

Bio-Inspired Optimal Control Framework to Generate Walking Motions for the Humanoid Robot iCub Using Whole Body Models

Yue Hu, Katja Mombaur
2018 Applied Sciences  
See [11] for a general overview of optimization in the context of humanoids. Optimal control has previously been used to generate challenging motions using whole-body models for robots such as .  ...  Another, more bio-inspired way of motion generation is to use optimization, or to be more precise, optimal control, based on whole-body models of the robots.  ...  We wish to thank the Simulation and Optimization group of H. G. Bock at the Heidelberg University for providing the optimal control code MUSCOD.  ... 
doi:10.3390/app8020278 fatcat:7hdc33mrmfdtpm4frne5zes37u

Identification by Recursive Least Squares with Kalman Filter (RLS-KF) Applied to a Robotic Manipulator

Darielson A. Souza, Josias G. Batista, Felipe J. S. Vasconcelos, Laurinda L. N. Dos Reis, Gabriel F. Machado, Jonatha R. Costa, Jose N. N., Jose L. N. Silva, Clauson S. N. Rios, Antonio B. S. Junior
2021 IEEE Access  
The identification of a system requires that the model output be as close as possible to the real one, in order to improve the control system.  ...  The field of robotics has grown a lot over the years due to the increasing necessity of industrial production and the search for quality of industrialized products.  ...  With advances in drive systems for manipulating robots, image systems and control it is possible for robots to share the same work area, perform shared tasks and interact with operators and other equipment  ... 
doi:10.1109/access.2021.3074419 fatcat:ai5ssyc4pfft5njj7zdzwjvchm

SLAM algorithm applied to robotics assistance for navigation in unknown environments

Fernando A Auat Cheein, Natalia Lopez, Carlos M Soria, Fernando A di Sciascio, Fernando Lobo Pereira, Ricardo Carelli
2010 Journal of NeuroEngineering and Rehabilitation  
Subjects took an average time of 35 minutes to navigate the environment and to learn how to use the MCI. The SLAM results have shown a consistent reconstruction of the environment.  ...  For mobile robot navigation purposes, five commands were obtained from the MCI: turn to the left, turn to the right, stop, start and exit.  ...  Also, S control is the control signal; Δt is the sampled time of the time-discretized system.  ... 
doi:10.1186/1743-0003-7-10 pmid:20163735 pmcid:PMC2842281 fatcat:5o45nsnekzdormet22wjvkgary

Robots in Retirement Homes: Applying Off-the-Shelf Planning and Scheduling to a Team of Assistive Robots

Tony T. Tran, Tiago Vaquero, Goldie Nejat, J. Christopher Beck
2017 The Journal of Artificial Intelligence Research  
of AI planning and scheduling for similar robotics problems.  ...  In particular, as constraint programming has not been widely applied to robot planning and scheduling in the literature, our results suggest significant untapped potential in doing so.  ...  Tiago Vaquero would like to thank the Keck Institute for Space Studies for supporting his work and his team at the Massachusetts Institute of Technology and the California Institute of Technology for the  ... 
doi:10.1613/jair.5306 fatcat:wg6ouv64ebfylnywdchvhmb2l4
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