Towards Autonomous Robotic Systems
12th Annual Conference, TAROS 2011, Sheffield, UK, August 31 -- September 2, 2011, Proceedings
Published on 19. August 2011
XVIII, 435 pages
978-3-642-23232-9 (ISBN)
Description
This book constitutes the refereed proceedings of the 12th Annual Conference Towards Autonomous Robotics Systems, TAROS 2011, held in Sheffield, UK, in August/September 2011.
The 32 revised full papers presented together with 29 two-page abstracts were carefully reviewed and selected from 94 submissions. Among the topics addressed are robot navigation, robot learning, human-robot interaction, robot control, mobile robots, reinforcement learning, robot vehicles, swarm robotic systems, etc.
The 32 revised full papers presented together with 29 two-page abstracts were carefully reviewed and selected from 94 submissions. Among the topics addressed are robot navigation, robot learning, human-robot interaction, robot control, mobile robots, reinforcement learning, robot vehicles, swarm robotic systems, etc.
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Roderich Groß | Lyuba Alboul | Chris Melhuish
Towards Autonomous Robotic Systems
12th Annual Conference, TAROS 2011, Sheffield, UK, August 31 -- September 2, 2011, Proceedings
Book
08/2011
1st Edition
Springer
€53.49
Shipment within 7-9 days
Content
- Intro
- Title
- Preface
- Organization
- Table of Contents
- A Cricket-Controlled Robot Orienting towards a Sound Source
- Introduction
- Materials and Methods
- Hardware
- Wetware
- Software
- Experimental Methods
- Experiments
- Discussion
- References
- A General Classifier of Whisker Data Using Stationary Naive Bayes: Application to BIOTACT Robots
- Introduction
- Classification with Stationary Naive Bayes
- Experiment 1: Surface Texture Classification
- Experiment 2: Speed and Radial Distance Classification
- Experiment 3: Shape and Position Classification
- Discussion
- References
- A Navigation System for a High-Speed Professional Cleaning Robot
- Introduction
- Related Work
- Problem Description and System Overview
- Motion Planning
- Steer Angle Selection
- Speed Calculation
- Experimental Results
- Conclusions and Future Work
- References
- A Recursive Least Squares Solution for Recovering Robust Planar Homographies
- Introduction
- Overview
- Feature Detection and Matching: A Derived Approach
- A Recursive Solution for Estimating Homography
- Summary
- References
- Airborne Ultrasonic Position and Velocity Measurement Using Two Cycles of Linear-Period-Modulated Signal
- Introduction
- Cross Correlation by Single-Bit Processing
- The Method of Position and Velocity Measurement
- Two-Dimensional Position Measurement
- Two-Dimensional Velocity Vector Measurement
- Experiment
- Experimental Setup
- Experimental Result
- Conclusion
- References
- An Eye Detection and Localization System for Natural Human and Robot Interaction without Face Detection
- Introduction: Biologicaly Inspired Robot Navigation
- Head Direction Cells
- Models of Head Direction Cells
- Methods: The Model
- Experimental Procedure and Results
- Training the Model
- Testing the Model
- Discussion
- Summary and Conclusion
- References
- Contextual Recognition of Robot Emotions
- Introduction
- Hypotheses
- Method
- Interaction Design
- Design and Results of the First Experiment
- Design and Results of the Second Experiment
- Discussion
- References
- Costs and Benefits of Behavioral Specialization
- Introduction
- Related Work
- Model of Specialization
- Learning
- Forgetting
- Task Allocation Strategy
- Experimental Setup
- Task Abstraction
- Simulation Tools
- Specialization Measures
- Experiments
- Basic Properties
- Adaptivity
- Costs and Benefits
- Conclusions
- References
- CrunchBot: A Mobile Whiskered Robot Platform
- Introduction
- Methods
- Results
- Discussion
- References
- Deformation-Based Tactile Feedback Using a Biologically-Inspired Sensor and a Modified Display
- Introduction
- System Design
- Sensor
- Tactile Display
- System Integration
- Performance
- Sensor
- Display
- System
- Conclusion
- References
- Design and Control of an Upper Limb Exoskeleton Robot RehabRoby
- Introduction
- Control Architecture
- RehabRoby
- Low-Level and High-Level Controllers
- Experimental Setup
- Task Design
- Experiment Protocol
- Subjects
- Results
- Discussion and Conclusion
- References
- Distributed Motion Planning for Ground Objects Using a Network of Robotic Ceiling Cameras
- Introduction
- Scenario Characteristics and Camera Network Model
- Related Work
- Distributed Path Planning
- Adaption to Changes in the Environment
- Heuristics to Reduce Local Minima Attraction
- Heuristics to Optimize the Use of Resources (Efficiency Heuristics)
- Experimental Results
- Robustness to Alignment Errors
- Communication Efficiency
- Scalability: Increasing Robot Density in a Fixed Size Environment
- Scalability: Increasing Environment Size, Fixed Density of Robots
- Conclusions and Future Work
- References
- Evaluating the Effect of Robot Group Size on Relative Localisation Precision
- Introduction
- The Relative Localisation Approach
- Description of the Experiments
- Design Decisions and Necessary Preconditions
- Collecting Data
- Evaluation of the Results
- Summary
- References
- Instance-Based Reinforcement Learning Technique with a Meta-learning Mechanism for Robust Multi-Robot Systems
- Introduction
- Learning Task
- Extended BRL
- BRL: RL in Continuous Learning Space
- BRL with a Meta-learning Mechanism
- Real Robot Experiments
- Experimental Settings
- Results
- Discussion
- Conclusion
- References
- Locomotion Selection and Mechanical Design for a Mobile Intra-abdominal Adhesion-Reliant Robot for Minimally Invasive Surgery
- Introduction
- Current Developments in Surgical Robotics
- Bio-inspiration for Adhesive Materials
- Intra-corporeal Devices
- Mechanical Requirements
- System Definition
- Locomotion
- Miniature Actuators
- Mechanical Design
- Motor Integration
- Conclusion
- Future Work
- References
- Mapping with Sparse Local Sensors and Strong Hierarchical Priors
- Introduction
- Methods
- Static Structures: Generative Models
- Inference
- Results
- Discussion
- References
- Multi-rate Visual Servoing Based on Dual-Rate High Order Holds
- Introduction
- Dual-Rate High Order Holds
- Multi-rate Visual Servoing
- Control System
- Vision System
- Analysis
- Simulation Results
- Experimental Results
- Conclusions
- References
- Optimal Path Planning for Nonholonomic Robotic Systems via Parametric Optimisation
- Introduction
- Nonholonomic Systems on the Euclidean Groups SE(n)
- Problem Statement
- Methodology
- General Hamiltonian Lift on SE(n)
- A Note on Integrability
- Examples
- Example 1-The Wheeled Robot
- Example 2-A Conventional Autonomous Underwater Vehicle (AUV)
- Conclusion
- References
- Probabilistic Logic Reasoning about Traffic Scenes
- Introduction
- A Markov Logic Framework for a Lane Assistance System
- Vision System
- Probabilistic Logics
- Markov Logic and Alchemy
- Contextual Information
- Results
- Evaluation
- Concluding Remarks
- References
- Real-World Reinforcement Learning for Autonomous Humanoid Robot Charging in a Home Environment
- Introduction
- Problem Overview
- Network Architecture and Learning
- Supervised Reinforcement Learning and Experimental Results
- Conclusions
- References
- Robot Routing Approaches for Convoy Merging Maneuvers
- Introduction
- Simplified Approach
- Extended Approach
- Conclusions
- References
- Sensing with Artificial Tactile Sensors: An Investigation of Spatio-temporal Inference
- Introduction
- Theoretical Background: Hierarchical Temporal Memory and Cortical Computation
- Methods
- Results
- Discussion
- References
- Short-Range Radar Perception in Outdoor Environments
- Introduction
- Ground Echo Modeling
- The Radar Ground Segmentation System
- Background Extraction
- Ground Segmentation
- Experimental Results
- Ground Segmentation and Range Accuracy
- Conclusions
- References
- Smooth Kinematic Controller vs. Pure-Pursuit for Non-holonomic Vehicles
- Introduction
- Double Continuous-Curvature Generation
- Multi-rate Kinematic Control Based on DCC-Paths
- Benchmark
- Conclusions
- References
- Supervised Traversability Learning for Robot Navigation
- Introduction
- Related Work
- Algorithm Description
- Stereo Vision and V-Disparity Image Computation
- Feature Extraction and SVM-Based Learning
- Experimental Validation
- Conclusion
- References
- Task Space Integral Sliding Mode Controller Implementation for 4DOF of a Humanoid BERT II Arm with Posture Control
- Introduction
- Integral Sliding Mode Controller
- Posture Torque Controller
- Experimental Setup and Results Discussion
- Conclusion
- References
- Towards Autonomous Energy-Wise RObjects
- Introduction
- Energy Scavenging Technologies
- Heat
- Light
- Ambient Radio Frequencies
- Pressure and Temperature Variations
- Gas and Liquid Flows
- Mechanical
- RObjects Power Requirements
- Conclusion and Discussion
- References
- Towards Safe Human-Robot Interaction
- Introduction
- Related Work
- System and Human-Robot Interface
- Software Architecture
- How the System Works
- Trustworthiness
- Safety Properties
- Liveness Properties
- Experiments
- Experimental Setting
- Description of Experiments
- Expected Outcomes
- Results
- Conclusion and Follow-On Research Directions
- References
- Towards Temporal Verification of Emergent Behaviours in Swarm Robotic Systems
- Introduction
- Temporal Logic and Model Checking
- Analysing Swarm Algorithms
- The `Alpha' Algorithm
- Abstraction
- Verification Using Model Checking
- Results: Concurrency
- Results: Changing the Alpha Parameter and Wireless Ranges
- Discussion and Related Work
- Conclusions and Future Work
- References
- Walking Rover Trafficability - Presenting a Comprehensive Analysis and Prediction Tool
- State of the Art
- The LPTPT Tool
- Introduction
- LPTPT Model - Phase 1
- LPTPT Model - Phase 2
- LPTPT Model Predictions
- Wheeled Rover Comparison
- Slip Dependency
- Trafficability Prediction on Unknown Soils
- Conclusions and Future Work
- References
- What Can a Personal Robot Do for You?
- Introduction
- Survey Design
- Results Analysis
- Results
- Discussion
- Attitude towards Robots
- Task Types
- Methodology
- Market Considerations
- Conclusion
- References
- Extended Abstracts
- A Systems Integration Approach to Creating Embodied Biomimetic Models of Active Vision
- References
- A Validation of Localisation Accuracy Improvements by the Combined Use of GPS and GLONASS
- References
- Adaptive Particle Filter for Fault Detection and Isolation of Mobile Robots
- References
- An Approach to Improving Attitude Estimation Based on Low-Cost MEMS-IMU for Mobile Robot Navigation
- References
- Cooperative Multi-robot Box Pushing Inspired by Human Behaviour
- References
- Cooperative Navigation and Integration of a Human into Multi-robot System
- References
- Coordination in Multi-tiered Robotic Search
- Introduction
- Simulation Experiments
- References
- Covert Robotics: Improving Covertness with Escapability and Non-Line-of-Sight Sensing
- References
- Designing Electric Propulsion Systems for UAVs
- Introduction
- Design Methodology
- References
- Enhancing Self-similar Patterns by Asymmetric Artificial Potential Functions in Partially Connected Swarms
- References
- Evolving Modularity in Robot Behaviour Using Gene Expression Programming
- References
- Forming Nested 3D Structures Based on the Brazil Nut Effect
- References
- Grasping of Deformable Objects Applied to Organic Produce
- References
- Learning to Grasp Information with Your Own Hands
- References
- Long-Term Experiment Using an Adaptive Appearance-Based Map for Visual Navigation by Mobile Robots
- References
- Occupancy Grid-Based SLAM Using a Mobile Robot with a Ring of Eight Sonar Transducers
- References
- On the Analysis of Parameter Convergence for Temporal Difference Learning of an Exemplar Balance Problem
- References
- Online Hazard Analysis for Autonomous Robots
- References
- Results of the European Land Robot Trial and Their Usability for Benchmarking Outdoor Robot Systems
- References
- Solutions for a Variable Compliance Gripper Design
- References
- Study of Routing Algorithms Considering Real Time Restrictions Using a Connectivity Function
- References
- Systematic Design of Flexible Magnetic Wall and Ceiling Climbing Robot for Cargo Screening
- Introduction
- Systematic Design of Flexible Magnetic WCCR
- Conclusions and Further Work
- References
- Tactile Afferent Simulation from Pressure Arrays
- References
- The Interaction between Vortices and a Biomimetic Flexible Fin
- References
- Toward an Ecological Approach to Interface Design for Teaching Robots
- References
- Towards Adaptive Robotic Green Plants
- References
- Using Image Depth Information for Fast Face Detection
- References
- Using Sequences of Knots as a Random Search
- Introduction
- Formal Basis for Designing Knots
- Selecting Knots According Size and Shape
- Results
- Conclusions
- References
- Vision-Based Segregation Behaviours in a Swarm of Autonomous Robots
- References
- Visual-Inertial Motion Priors for Robust Monocular SLAM
- References
- Author Index
