Sensor Fusion and Decentralized Control in Autonomous Robotic Systems
Author: Paul S. Schenker
Publisher: SPIE-International Society for Optical Engineering
Published: 1997
Total Pages: 344
ISBN-13:
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Author: Paul S. Schenker
Publisher: SPIE-International Society for Optical Engineering
Published: 1997
Total Pages: 344
ISBN-13:
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Publisher:
Published: 2001
Total Pages: 272
ISBN-13:
DOWNLOAD EBOOKAuthor: G. T. McKee
Publisher: SPIE-International Society for Optical Engineering
Published: 1999
Total Pages: 352
ISBN-13:
DOWNLOAD EBOOKThis work presents a series of papers examining various aspects of sensor fusion and decentralized control in robotic systems.
Author: Paul S. Schenker
Publisher:
Published: 1998-10
Total Pages:
ISBN-13: 9780819429841
DOWNLOAD EBOOKAuthor: G. T. McKee
Publisher: Society of Photo Optical
Published: 2000
Total Pages: 486
ISBN-13: 9780819438614
DOWNLOAD EBOOKAuthor: G. T. McKee
Publisher: Society of Photo Optical
Published: 2001
Total Pages: 250
ISBN-13: 9780819442994
DOWNLOAD EBOOKAuthor: Frank L. Lewis
Publisher: CRC Press
Published: 2018-10-03
Total Pages: 438
ISBN-13: 1351837117
DOWNLOAD EBOOKIt has long been the goal of engineers to develop tools that enhance our ability to do work, increase our quality of life, or perform tasks that are either beyond our ability, too hazardous, or too tedious to be left to human efforts. Autonomous mobile robots are the culmination of decades of research and development, and their potential is seemingly unlimited. Roadmap to the Future Serving as the first comprehensive reference on this interdisciplinary technology, Autonomous Mobile Robots: Sensing, Control, Decision Making, and Applications authoritatively addresses the theoretical, technical, and practical aspects of the field. The book examines in detail the key components that form an autonomous mobile robot, from sensors and sensor fusion to modeling and control, map building and path planning, and decision making and autonomy, and to the final integration of these components for diversified applications. Trusted Guidance A duo of accomplished experts leads a team of renowned international researchers and professionals who provide detailed technical reviews and the latest solutions to a variety of important problems. They share hard-won insight into the practical implementation and integration issues involved in developing autonomous and open robotic systems, along with in-depth examples, current and future applications, and extensive illustrations. For anyone involved in researching, designing, or deploying autonomous robotic systems, Autonomous Mobile Robots is the perfect resource.
Author: Julius T. Tou
Publisher: Springer Science & Business Media
Published: 2012-12-06
Total Pages: 324
ISBN-13: 3642840515
DOWNLOAD EBOOKDesign of intelligent robots is one of the most important endeavors in robotics research today. The key to intelligent robot design lies in sensory systems for robotic control and manipulation. In an unstructural environment, robotic sensing translates measurements and characteristics of the environment and working objects into useful information. A robotic system is usually equipped with a variety of sensors to perform redundant sensing and achieve data fusion. This book contains revised versions of papers presented at a NATO Advanced Research Workshop held in Florida in September 1989 within the activities of the NATO Special Programme on Sensory Systems for Robotic Control. The fundamental issues addressed in this volume were: - Theory and techniques, including knowledge-based systems, geometrical fusion, Boolean fusion, probabilistic fusion, feature-based fusion, error-estimation approach, and Markov process modeling. - General concepts, including microscopic redundancy at the sensory element level, macroscopic redundancy at the sensory system level, parallel redundancy, and standby redundancy. - Implementation and application, including robotic control, sensory technology, robotic assembly, robot fingers, sensory signal processing, sensory system integration, and PAPIA architecture. - Biological analogies, including neural nets, pattern recognition, low-level fusion, and motor learning.
Author: L.E. Parker
Publisher: Springer Science & Business Media
Published: 2000-10
Total Pages: 508
ISBN-13:
DOWNLOAD EBOOKThe Fifth International Symposium on Distributed Autonomous Robotic Systems (DARS 2000) was held in October 2000 in Knoxville, Tennessee, and was hosted by the Oak Ridge National Laboratory and the Engineering Research Program of the Office of Basic Energy Sciences of the U.S. Department of Energy. This volume of proceedings presents a broad coverage of the state-of-the-art technical issues in distributed multirobot systems. Technologies, algorithms, and system architectures for distributed autonomous robotic systems are discussed. Specific topics include group behaviors, coordinated control, distributed planning, cellular robotics, self-organizing robotic systems, collective/swarm intelligence, and shared autonomy. The selected papers in this volume, contributed by leading researchers from Asia, Europe, and the Americas, provide a unique cutting-edge perspective on distributed multirobot systems.
Author: Ramon Garcia-Hernandez
Publisher: Springer
Published: 2017-02-05
Total Pages: 121
ISBN-13: 3319533126
DOWNLOAD EBOOKThis book provides a decentralized approach for the identification and control of robotics systems. It also presents recent research in decentralized neural control and includes applications to robotics. Decentralized control is free from difficulties due to complexity in design, debugging, data gathering and storage requirements, making it preferable for interconnected systems. Furthermore, as opposed to the centralized approach, it can be implemented with parallel processors. This approach deals with four decentralized control schemes, which are able to identify the robot dynamics. The training of each neural network is performed on-line using an extended Kalman filter (EKF). The first indirect decentralized control scheme applies the discrete-time block control approach, to formulate a nonlinear sliding manifold. The second direct decentralized neural control scheme is based on the backstepping technique, approximated by a high order neural network. The third control scheme applies a decentralized neural inverse optimal control for stabilization. The fourth decentralized neural inverse optimal control is designed for trajectory tracking. This comprehensive work on decentralized control of robot manipulators and mobile robots is intended for professors, students and professionals wanting to understand and apply advanced knowledge in their field of work.