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Author: Andrew James Barry Publisher: ISBN: Category : Languages : en Pages : 127
Book Description
This thesis presents the design and implementation of a small autonomous unmanned aerial vehicle capable of high-speed flight through complex natural environments. Using only onboard sensing and computation, we perform obstacle detection, planning, and feedback control in realtime. We introduce a novel stereo vision algorithm, pushbroom stereo, capable of detecting obstacles at 120 frames per second without overburdening our lightweight processors. Our use of model-based planning and control techniques allows us to track precise trajectories that avoid obstacles identified by the vision system. We demonstrate a complete working system avoiding trees at up to 14 m/s (31 MPH). To the best of our knowledge this is the fastest lightweight aerial vehicle to perform collision avoidance in such a complex environment.
Author: Andrew James Barry Publisher: ISBN: Category : Languages : en Pages : 127
Book Description
This thesis presents the design and implementation of a small autonomous unmanned aerial vehicle capable of high-speed flight through complex natural environments. Using only onboard sensing and computation, we perform obstacle detection, planning, and feedback control in realtime. We introduce a novel stereo vision algorithm, pushbroom stereo, capable of detecting obstacles at 120 frames per second without overburdening our lightweight processors. Our use of model-based planning and control techniques allows us to track precise trajectories that avoid obstacles identified by the vision system. We demonstrate a complete working system avoiding trees at up to 14 m/s (31 MPH). To the best of our knowledge this is the fastest lightweight aerial vehicle to perform collision avoidance in such a complex environment.
Author: Antonio Loquercio Publisher: Springer Nature ISBN: 3031272889 Category : Technology & Engineering Languages : en Pages : 69
Book Description
This book presents the astonishing potential of deep sensorimotor policies for agile vision-based quadrotor flight. Quadrotors are among the most agile and dynamic machines ever created. However, developing fully autonomous quadrotors that can approach or even outperform the agility of birds or human drone pilots with only onboard sensing and computing is challenging and still unsolved. Deep sensorimotor policies, generally trained in simulation, enable autonomous quadrotors to fly faster and more agile than what was possible before. While humans and birds still have the advantage over drones, the author shows the current research gaps and discusses possible future solutions.
Author: Ken Goldberg Publisher: Springer Nature ISBN: 3030430898 Category : Technology & Engineering Languages : en Pages : 931
Book Description
This book presents the outcomes of the 12th International Workshop on the Algorithmic Foundations of Robotics (WAFR 2016). WAFR is a prestigious, single-track, biennial international meeting devoted to recent advances in algorithmic problems in robotics. Robot algorithms are an important building block of robotic systems and are used to process inputs from users and sensors, perceive and build models of the environment, plan low-level motions and high-level tasks, control robotic actuators, and coordinate actions across multiple systems. However, developing and analyzing these algorithms raises complex challenges, both theoretical and practical. Advances in the algorithmic foundations of robotics have applications to manufacturing, medicine, distributed robotics, human–robot interaction, intelligent prosthetics, computer animation, computational biology, and many other areas. The 2016 edition of WAFR went back to its roots and was held in San Francisco, California – the city where the very first WAFR was held in 1994. Organized by Pieter Abbeel, Kostas Bekris, Ken Goldberg, and Lauren Miller, WAFR 2016 featured keynote talks by John Canny on “A Guided Tour of Computer Vision, Robotics, Algebra, and HCI,” Erik Demaine on “Replicators, Transformers, and Robot Swarms: Science Fiction through Geometric Algorithms,” Dan Halperin on “From Piano Movers to Piano Printers: Computing and Using Minkowski Sums,” and by Lydia Kavraki on “20 Years of Sampling Robot Motion.” Furthermore, it included an Open Problems Session organized by Ron Alterovitz, Florian Pokorny, and Jur van den Berg. There were 58 paper presentations during the three-day event. The organizers would like to thank the authors for their work and contributions, the reviewers for ensuring the high quality of the meeting, the WAFR Steering Committee led by Nancy Amato as well as WAFR’s fiscal sponsor, the International Federation of Robotics Research (IFRR), led by Oussama Khatib and Henrik Christensen. WAFR 2016 was an enjoyable and memorable event.
Author: Jing Xiao Publisher: Springer Nature ISBN: 3030339505 Category : Technology & Engineering Languages : en Pages : 804
Book Description
In addition to the contributions presented at the 2018 International Symposium on Experimental Robotics (ISER 2018), this book features summaries of the discussions that were held during the event in Buenos Aires, Argentina. These summaries, authored by leading researchers and session organizers, offer important insights on the issues that drove the symposium debates. Readers will find cutting-edge experimental research results from a range of robotics domains, such as medical robotics, unmanned aerial vehicles, mobile robot navigation, mapping and localization, field robotics, robot learning, robotic manipulation, human–robot interaction, and design and prototyping. In this unique collection of the latest experimental robotics work, the common thread is the experimental testing and validation of new ideas and methodologies. The International Symposium on Experimental Robotics is a series of bi-annual symposia sponsored by the International Foundation of Robotics Research, whose goal is to provide a dedicated forum for experimental robotics research. In recent years, robotics has broadened its scientific scope, deepened its methodologies and expanded its applications. However, the significance of experiments remains at the heart of the discipline. The ISER gatherings are an essential venue where scientists can meet and have in-depth discussions on robotics based on this central tenet.
Author: Jyoti Prakash Sahoo Publisher: Springer Nature ISBN: 9811648077 Category : Technology & Engineering Languages : en Pages : 538
Book Description
This book presents recent advances in the field of scalable distributed computing including state-of-the-art research in the field of Cloud Computing, the Internet of Things (IoT), and Blockchain in distributed environments along with applications and findings in broad areas including Data Analytics, AI, and Machine Learning to address complex real-world problems. It features selected high-quality research papers from the 2nd International Conference on Advances in Distributed Computing and Machine Learning (ICADCML 2021), organized by the Department of Computer Science and Information Technology, Institute of Technical Education and Research(ITER), Siksha 'O' Anusandhan (Deemed to be University), Bhubaneswar, India.
Author: Jacques Chadwick Leedekerken Publisher: ISBN: Category : Languages : en Pages : 120
Book Description
A substantial challenge in robotics is integration of complex software systems for real- time performance. This thesis integrates the robust and generic mapping framework Atlas, a feature-based local Simultaneous Localization and Mapping (SLAM) module, and obstacle avoidance using information from mapped features. The resulting system performs autonomous feature-relative Real-time Obstacle Avoidance and Mapping (ROAM) with laser or sonar range sensors, and results are shown for wide-beam sonar. This system will allow high-speed feature-relative obstacle and avoidance and navigation on mobile robots with wide-beam sonar and/or laser sensors.
Author: Todd A. Williamson Publisher: ISBN: Category : Computer vision Languages : en Pages : 145
Book Description
Abstract: "Intelligent vehicle research to date has made great progress toward true autonomy. Integrated systems for on-road vehicles, which include road following, headway maintenance, tactical-level planning, avoidance of large obstacles, and inter-vehicle coordination have been demonstrated. One of the weakest points of current automated cars, however, is the lack of a reliable system to detect small obstacles on the road surface. In order to be useful at highway speeds, such a system must be able to detect small (1̃5cm) obstacles at long ranges (1̃00m), with a cycle rate of at least 2 Hz. This dissertation presents an obstacle detection system that uses trinocular stereo to detect very small obstacles at long range on highways. The system makes use of the apparent orientation of surfaces in the image in order to determine whether pixels belong to vertical or horizontal surfaces. A simple confidence measure is applied to reject false positives introduced by image noise. The system is capable of detecting objects as small as 14cm high at ranges well in excess of 100m. The obstacle detection system described here relies on several factors. First, the camera system is configured in such a way that even small obstacles generate detectable range measurements. This is done by using a very long baseline, telephoto lenses, and rigid camera mounts. Second, extremely accurate calibration procedures allow accurate determination of these range differences. Multibaseline stereo is used to reduce the number of false matches and to improve range accuracy. Special image filtering techniques are used to enhance the very weak image textures present on the road surface, reducing the number of false range measurements. Finally, a technique for determining the surface orientation directly from stereo data is used to detect the presence of obstacles. A system to detect obstacles is not useful if it does not run in near real-time. In order to improve performance, this dissertation includes a detailed analysis of each stage of the stereo algorithm. An efficient method for rectifying images for trinocular stereo is presented. An analysis of memory usage and cache performance of the stereo matching loop has been performed to allow efficient implementation on systems using general-purpose CPUs. Finally, a method for efficiently determining surface orientation directly from stereo data is described."
Author: Andrey V. Savkin Publisher: Butterworth-Heinemann ISBN: 0128037571 Category : Technology & Engineering Languages : en Pages : 360
Book Description
Safe Robot Navigation Among Moving and Steady Obstacles is the first book to focus on reactive navigation algorithms in unknown dynamic environments with moving and steady obstacles. The first three chapters provide introduction and background on sliding mode control theory, sensor models, and vehicle kinematics. Chapter 4 deals with the problem of optimal navigation in the presence of obstacles. Chapter 5 discusses the problem of reactively navigating. In Chapter 6, border patrolling algorithms are applied to a more general problem of reactively navigating. A method for guidance of a Dubins-like mobile robot is presented in Chapter 7. Chapter 8 introduces and studies a simple biologically-inspired strategy for navigation a Dubins-car. Chapter 9 deals with a hard scenario where the environment of operation is cluttered with obstacles that may undergo arbitrary motions, including rotations and deformations. Chapter 10 presents a novel reactive algorithm for collision free navigation of a nonholonomic robot in unknown complex dynamic environments with moving obstacles. Chapter 11 introduces and examines a novel purely reactive algorithm to navigate a planar mobile robot in densely cluttered environments with unpredictably moving and deforming obstacles. Chapter 12 considers a multiple robot scenario. For the Control and Automation Engineer, this book offers accessible and precise development of important mathematical models and results. All the presented results have mathematically rigorous proofs. On the other hand, the Engineer in Industry can benefit by the experiments with real robots such as Pioneer robots, autonomous wheelchairs and autonomous mobile hospital. - First book on collision free reactive robot navigation in unknown dynamic environments - Bridges the gap between mathematical model and practical algorithms - Presents implementable and computationally efficient algorithms of robot navigation - Includes mathematically rigorous proofs of their convergence - A detailed review of existing reactive navigation algorithm for obstacle avoidance - Describes fundamentals of sliding mode control
Author: Andrew James Barry
Author: Andrew James Barry
Author: Antonio Loquercio
Author: Ken Goldberg
Author: Jing Xiao
Author: Jyoti Prakash Sahoo
Author: Felipe Gonzalez Toro
Author: Jacques Chadwick Leedekerken
Author: Todd A. Williamson
Author: Andrey V. Savkin
Author: Tonislav Ivanov