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Computer

Issue 6 • Date June 1989

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Displaying Results 1 - 9 of 9
  • Ambler: an autonomous rover for planetary exploration

    Publication Year: 1989, Page(s):18 - 26
    Cited by:  Papers (61)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1086 KB)

    The authors are building a prototype legged rover, called the Ambler (loosely an acronym for autonomous mobile exploration robot) and testing it on full-scale, rugged terrain of the sort that might be encountered on the Martian surface. They present an overview of their research program, focusing on locomotion, perception, planning, and control. They summarize some of the most important goals and ... View full abstract»

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  • Autonomous mobile robot navigation and learning

    Publication Year: 1989, Page(s):29 - 35
    Cited by:  Papers (27)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (965 KB)

    Research focused on the development and experimental validation of intelligent control techniques for autonomous mobile robots able to plan and perform a variety of assigned tasks in unstructured environments is presented. In particular, an autonomous mobile robot, HERMIES-IIB intelligence experiment series, is described. It is a self-powered, wheel-driven platform containing an onboard 16-node Nc... View full abstract»

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  • Algorithmic framework for learned robot navigation in unknown terrains

    Publication Year: 1989, Page(s):37 - 43
    Cited by:  Papers (27)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (621 KB)

    A framework is presented that uses the same strategy to solve both the learned navigation and terrain model acquisition. It is shown that any abstract graph structure that satisfies a set of four properties suffices as the underlying structure. It is also shown that any graph exploration algorithm can serve as the searching strategy. The methods provide paths that keep the robot as far from the ob... View full abstract»

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  • Using occupancy grids for mobile robot perception and navigation

    Publication Year: 1989, Page(s):46 - 57
    Cited by:  Papers (491)  |  Patents (16)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1337 KB)

    An approach to robot perception and world modeling that uses a probabilistic tesselated representation of spatial information called the occupancy grid is reviewed. The occupancy grid is a multidimensional random field that maintains stochastic estimates of the occupancy state of the cells in a spatial lattice. To construct a sensor-derived map of the robot's world, the cell state estimates are ob... View full abstract»

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  • Controlling the adaptive suspension vehicle

    Publication Year: 1989, Page(s):59 - 65
    Cited by:  Papers (13)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (857 KB)

    A description is given of the adaptive suspension vehicle (ASV), which is an experimental, six-legged walking vehicle, and its operation. The ASV software, which consists of more than 150000 lines of source code, is discussed. The application software is written in Pascal, and the operating system is written in PL/M and assembly language. The ASV software performs the following main duties: sensin... View full abstract»

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  • Neutral learning of constrained nonlinear transformations

    Publication Year: 1989, Page(s):67 - 76
    Cited by:  Papers (49)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (918 KB)

    Two issues that are fundamental to developing autonomous intelligent robots, namely rudimentary learning capability and dexterous manipulation, are examined. A powerful neural learning formalism is introduced for addressing a large class of nonlinear mapping problems, including redundant manipulator inverse kinematics, commonly encountered during the design of real-time adaptive control mechanisms... View full abstract»

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  • A predictable real-time kernel for distributed multisensor systems

    Publication Year: 1989, Page(s):78 - 83
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (629 KB)

    The authors present a real-time kernel developed to support a distributed multisensor system encountered in robotics applications. To ensure predictability, the kernel provides services with bounded worst-case execution times. In addition, the kernel allows the programmer to specify timing constraints for process execution and interprocess communication. The kernel uses these timing constraints bo... View full abstract»

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  • Building an environment model using depth information

    Publication Year: 1989, Page(s):85 - 90
    Cited by:  Papers (29)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (537 KB)

    The environment model's volumetric level, where information about free and occupied space is represented explicitly, is considered. At this model level, updating operations use raw sensory data from range sensors or processed data from any stereo or other depth recovery technique. In addition, this type of model can be used directly by path planning and navigation modules as well as for object rec... View full abstract»

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  • A vision system for robotic inspection and manipulation

    Publication Year: 1989, Page(s):91 - 97
    Cited by:  Papers (23)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (901 KB)

    A model-based approach has been proposed to make object recognition computationally tractable. In this approach, models associated with objects expected to appear in the scene are recorded in the system's knowledge base. The system extracts various features from the input images using robust, low-level, general-purpose operators. Finally, matching is performed between the image-derived features an... View full abstract»

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Computer, the flagship publication of the IEEE Computer Society, publishes peer-reviewed articles written for and by computer researchers and practitioners representing the full spectrum of computing and information technology, from hardware to software and from emerging research to new applications. 

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Editor-in-Chief
Sumi Helal
University of Florida
sumi.helal@gmail.com