EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications

3-6 July 1990

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Displaying Results 1 - 25 of 140
  • Machine vision technology: past, present and future

    Publication Year: 1990, Page(s):XXIX - XXXX vol.1
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (925 KB)

    Discusses the past, present, and future of machine vision technology, emphasizing its practical aspects. Four types of machine vision technology based on pattern matching, feature parameter, window, and slit-light methods are now being widely used in industry. However, recent applications require more effective use of knowledge-based processing, combined with application-specific methods. Study is... View full abstract»

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  • A method for fast computation of collision-free robot movements in configuration-space

    Publication Year: 1990, Page(s):5 - 12 vol.1
    Cited by:  Papers (8)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (424 KB)

    Some algorithms for a fast and efficient computation of collision-free robot gross-motions are presented. A technique based on a lookup-table for mapping obstacles into configuration-space, is shown. Some algorithms for the generation of the distance-field in configuration space, which were derived from well-known methods but adapted for c-space, are described and compared with respect to their ef... View full abstract»

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  • Teaching of robot task by manual control-trial and correction of the velocity with a variable sampling time

    Publication Year: 1990, Page(s):13 - 18 vol.1
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (273 KB)

    A new teaching method has been proposed for robot manipulators, which is developed based on manual control in real time by using human operator's skills. This method allows the operator to correct the velocity data of the robot motion through the playback of teaching data. So, even on the condition of high speed task, the method is also effective and suitable. Using an experimental master-slave ma... View full abstract»

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  • The ICE assembly sequence planner

    Publication Year: 1990, Page(s):19 - 24 vol.1
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (354 KB)

    An integrated concurrent engineering (ICE) system is under development which will allow a designer access to assembly, production, and other manufacturing information while a design is being developed, thus ensuring a better product. In addition, the ICE system will automatically generate assembly and robotic task plans and the robot code needed to assemble the product when the design is completed... View full abstract»

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  • A nonconvex cost optimization approach to tracking multiple targets

    Publication Year: 1990, Page(s):25 - 31 vol.1
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (447 KB)

    The problem of tracking multiple targets in the presence of displacement noise and clutter is formulated as a nonconvex optimisation problem. The form of the suggested cost function is shown to be suitable for the graduated nonconvexity algorithm, which can be viewed as deterministic annealing. The method is first derived for the two-dimensional (spatial/temporal) case, and then generalized to the... View full abstract»

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  • Automatic planning of pick and place operations in presence of uncertainties

    Publication Year: 1990, Page(s):33 - 40 vol.1
    Cited by:  Papers (2)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (546 KB)

    Describes a system that plans automatically 'pick and place' tasks. It takes into consideration the strong interdependencies existing between the different steps of the 'pick and place' task. The system deals explicitly with the interactions between grasp planning, transfer motions and approach motions. Besides, it makes use, at several steps during the planning phase, of a module that propagates ... View full abstract»

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  • Integrating multirobot coordination in a mobile-robot control system

    Publication Year: 1990, Page(s):43 - 49 vol.1
    Cited by:  Papers (13)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (489 KB)

    A system that coordinates the activity of several mobile robots is described. In the author's (1989) previous work, he developed a control system for one mobile robot that executes high-level tasks or missions. This new capability called multirobot control level (MRC), is viewed as a new layer in the system that uses functionalities offered by the lower levels. This improvement shows the flexibili... View full abstract»

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  • Parallel algorithms for one or two-vehicle navigation

    Publication Year: 1990, Page(s):51 - 58 vol.1
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (462 KB)

    A two vehicle navigator on a discrete space is analyzed. The concept of linking time maps as source to optimal path planning is discussed. The rules for constructing these maps are given in a cellular automata mode. The implementation of these rules on a parallel computer is presented.<<ETX>> View full abstract»

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  • Consideration on the cooperation of multiple autonomous mobile robots

    Publication Year: 1990, Page(s):59 - 63 vol.1
    Cited by:  Papers (43)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (340 KB)

    The paper proposes basic concepts of cooperation of multiple autonomous mobile robots, The authors suggest to divide the cooperation into two types, active and nonactive according to the setting goal of the system. And in nonactive cooperation there must be 'modest cooperation' to prevent any collision of resource access by the robots. The way to design multiple robots system is also discussed.<... View full abstract»

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  • Indoor automation with many mobile robots

    Publication Year: 1990, Page(s):67 - 72 vol.1
    Cited by:  Papers (67)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (486 KB)

    The goal of the GOFER project is to control the operations of many mobile robots (several dozens) in an indoor environment. This project raises many research issues: implementation of nonconflicting sensor systems, man-robot and robot-robot communication systems and protocols, contingency-tolerant motion control, multi-robot motion planning, multi-robot task planning and scheduling. The aim of thi... View full abstract»

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  • Graphs with variable edge costs: a model for scheduling a vehicle subject to speed and timing restraints

    Publication Year: 1990, Page(s):73 - 79 vol.1
    Cited by:  Patents (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (411 KB)

    Consider a graph with a range of costs associated with each vertex and each edge of the graph. The author studies paths in such graphs where the cost of each edge of the path must be chosen within the range of costs for that edge and the sum of the chosen costs of the edges from the start of the path to any vertex in the path must belong to the range of allowable costs for that vertex. He shows th... View full abstract»

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  • On human performance in teleoperation

    Publication Year: 1990, Page(s):81 - 88 vol.1
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (568 KB)

    Recent experimental attempts in building teleoperated master-slave arm manipulators revealed a serious difficulty that goes beyond the better understood issues of control, sufficiency of input information, and data processing. Namely, a human operator has difficulty in interpreting input information and consequently in teleoperation decision-making. The problem becomes more pronounced when the sla... View full abstract»

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  • Dynamic map building for autonomous mobile robot

    Publication Year: 1990, Page(s):89 - 96 vol.1
    Cited by:  Papers (42)  |  Patents (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (599 KB)

    Presents an algorithm for autonomous map building and maintenance for a mobile robot. With each geometric target in the map the authors associate a validation measure to represent the belief in the validity of a target, in addition to the usual covariance matrix to represent spatial uncertainty. At each position update cycle, predicted features are generated for each target in the map and compared... View full abstract»

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  • Single leg walking with integrated perception, planning and control

    Publication Year: 1990, Page(s):97 - 102 vol.1
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (534 KB)

    Describes an integrated system capable of walking over rugged terrain using a single leg suspended below a carriage that rolls along rails. To walk, the system uses a laser scanner to find a foothold, positions the leg above the foothold, contacts the terrain with the foot, and applies force enough to advance the carriage along the rails. Walking both forward and backward, the system has traversed... View full abstract»

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  • Multi-criteria position and configuration optimization for redundant platform/manipulator systems

    Publication Year: 1990, Page(s):103 - 107 vol.1
    Cited by:  Papers (15)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (333 KB)

    An important characteristic of practical mobile manipulators, i.e. manipulators mounted on mobile platforms, is their particular kinematic redundancy created by the addition of the degrees of freedom of the platform to those of the manipulator. This paper is concerned with the resolution of this kinematic redundancy, and in particular with the local optimization of the position and configuration o... View full abstract»

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  • Fusing dynamic vision and landmark navigation for autonomous driving

    Publication Year: 1990, Page(s):113 - 119 vol.1
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (485 KB)

    Basic concepts for navigation and orientation of autonomous mobile systems are the main subject of this paper. Landmark navigation helps to integrate singular observations into a global world model. In a vision-guided vehicle, observations may stem from dynamic vision allowing the control of movements by a video camera in real-time. The paper describes the combination of both approaches to an homo... View full abstract»

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  • How does a robot know where to step? Measuring the hardness and roughness of surfaces

    Publication Year: 1990, Page(s):121 - 125 vol.1
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (420 KB)

    Presents an overview of ongoing research on surface exploration at the GRASP Lab. The authors investigate the necessary components and modules that mst be embedded into a robot for it to have the exploratory capabilities required to recover mechanical properties from a surface given minimal a priori information. Eventually, this information will be used to enable a robot stand and walk stably in a... View full abstract»

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  • High resolution terrain map from multiple sensor data

    Publication Year: 1990, Page(s):127 - 134 vol.1
    Cited by:  Papers (4)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (520 KB)

    Describes a terrain mapping 3D vision system to build a high resolution terrain map from multiple range images and a digital elevation model (DEM). To build a composite map of the environment from multiple sensor data, the terrain mapping system needs a representation of the terrain that must be appropriate for multiple sensor data. Building a composite terrain map also requires estimating motion ... View full abstract»

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  • Learning-based architecture for robust recognition of variable texture to navigate in natural terrain

    Publication Year: 1990, Page(s):135 - 142 vol.1
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (865 KB)

    Since natural terrain consists of textured objects that can be perceived under different external conditions, the author applies machine learning methodology to support the recognition of variable texture. He presents the results of first introductory experiments and the development of a new system architecture incorporating learning tools; i.e. conceptual clustering, learning from examples, and l... View full abstract»

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  • Constructing maps for indoor navigation of a mobile robot by using an active 3D range imaging device

    Publication Year: 1990, Page(s):143 - 148 vol.1
    Cited by:  Papers (6)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (497 KB)

    Presents the related mapping algorithm starting from acquisition of geometrical knowledge from the environment by using a 3D range imaging device. From 3D range images an abstract and compact description of available free motion space is extracted (free space polygon). Subsequent free space polygons are merged into a common map. The effectiveness and correct operation of the presented algorithm is... View full abstract»

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  • An approach to obstacle recognition for autonomous mobile robots

    Publication Year: 1990, Page(s):151 - 158 vol.1
    Cited by:  Papers (14)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (741 KB)

    Dynamic vision may be utilized for detecting and classifying objects that could be obstacles for a mobile robot. Methods for accomplishing this are introduced. They have been implemented on a multiprocessor vision system and tested in outdoor environments. If conditions are fairly favorable obstacles are reliably recognized and false alarms (e.g. caused by shadows) are rejected. Among the main pro... View full abstract»

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  • Position estimation for a mobile robot in an unstructured environment

    Publication Year: 1990, Page(s):159 - 166 vol.1
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (546 KB)

    Presents a solution to the positional estimation problem of an autonomous land vehicle navigating in an unstructured mountainous terrain. A digital elevation map (DEM) of the area in which the robot is to navigate is assumed to be given. It is also assumed that the robot is equipped with a camera that can be panned and tilted, and a device to measure the elevation of the robot above the ground sur... View full abstract»

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  • Active sensing in vision-based stereotyped motion

    Publication Year: 1990, Page(s):167 - 174 vol.1
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (891 KB)

    TV camera is constrained in its visual angle, function of pattern recognition and processing speed. To meet these problems, an active sensing paradigm is applied on such vision-based stereo-typed motions as moving along a sign pattern, moving for sighting and following a person. In each stereo-typed motion the active sensing paradigm is defined by fixed control patterns of locomotion and TV camera... View full abstract»

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  • Visual navigation of autonomous on-road vehicle

    Publication Year: 1990, Page(s):175 - 180 vol.1
    Cited by:  Papers (6)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (378 KB)

    Presents a visual navigation algorithm for autonomous on-road vehicles. The purpose of the research is to realize an autonomous vehicle navigation system which works as an intelligent driving support system. The basic structure of such autonomous vehicle navigation system is described first. Then, a vehicle control algorithm based on the visual tracking of fixed targets and path planning is propos... View full abstract»

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  • Panorama scene analysis with conic projection

    Publication Year: 1990, Page(s):181 - 187 vol.1
    Cited by:  Papers (69)  |  Patents (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (326 KB)

    Proposes a conic projection image sensor (COPIS) as a navigation sensor on a mobile robot. The COPIS system is a new global positioning system which is able to get omnidirectional view information from one frame of a panoramic image. Thus, camera scanning is unnecessary. The authors report the configuration of the COPIS and its application to generate an environmental map of an indoor corridor fro... View full abstract»

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