2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)

28 Sept.-2 Oct. 2004

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  • 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Cover

    Publication Year: 2004, Page(s): 0_1
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  • 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Title

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  • Copyright

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  • Foreword

    Publication Year: 2004, Page(s): i
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  • Organization of IEEE/RSJ International Conference on Intelligent Robots and Systems

    Publication Year: 2004, Page(s): ii
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  • Conference Organizing Committee of IROS 2004

    Publication Year: 2004, Page(s):iii - iv
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  • Organizing Committee

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  • Schedule

    Publication Year: 2004, Page(s):vii - ix
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  • Program Committee

    Publication Year: 2004, Page(s):x - xii
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  • Table of contents

    Publication Year: 2004, Page(s):xiii - lxxxix
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  • Path planning with hallucinated worlds

    Publication Year: 2004, Page(s):3123 - 3130 vol.4
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (629 KB) | HTML iconHTML

    We describe an approach that integrates midrange sensing into a dynamic path planning algorithm. The algorithm is based on measuring the reduction in path cost that would be caused by taking a sensor reading from candidate locations. The planner uses this measure in order to decide where to take the next sensor reading. Ideally, one would like to evaluate a path based on a map that is as close as ... View full abstract»

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  • Landmark selection for vision-based navigation

    Publication Year: 2004, Page(s):3131 - 3138 vol.4
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (609 KB) | HTML iconHTML

    Recent work in the object recognition community has yielded a class of interest point-based features that are stable under significant changes in scale, viewpoint, and illumination, making them ideally suited to landmark-based navigation. Although many such features may be visible in a given view of the robot's environment, only a few such features are necessary to estimate the robot's position an... View full abstract»

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  • Topology learning and recognition using Bayesian programming for mobile robot navigation

    Publication Year: 2004, Page(s):3139 - 3144 vol.4
    Cited by:  Papers (9)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (446 KB) | HTML iconHTML

    This paper proposes an approach allowing topology learning and recognition in indoor environments by using a probabilistic approach called Bayesian programming. The main goal of this approach is to cope with the uncertainty, imprecision and incompleteness of handled information. The Bayesian program for topology recognition and door detection is presented. The method has been successfully tested i... View full abstract»

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  • Forgetting bad behavior: memory for case-based navigation

    Publication Year: 2004, Page(s):3145 - 3152 vol.4
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (551 KB) | HTML iconHTML

    In this paper, we present successful strategies for forgetting cases in a case-based reasoning (CBR) system applied to autonomous robot navigation. This extends previous work that involved a CBR architecture, which indexes cases by the spatio-temporal characteristics of the sensor data, and outputs or selects parameters of behaviors in a behavior-based robot architecture. In such a system, the rem... View full abstract»

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  • Reinforcement learning for motion control of humanoid robots

    Publication Year: 2004, Page(s):3153 - 3157 vol.4
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (357 KB) | HTML iconHTML

    Many existing methods of reinforcement learning have treated tasks in a discrete low dimensional state space. However, the smooth control of humanoid robots requires a continuous high-dimensional state space. In this paper, to treat the state space, we proposed an adaptive allocation method of basis functions for reinforcement learning. Grid or incremental allocation methods have previously been p... View full abstract»

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  • Reinforcement learning for sensing strategies

    Publication Year: 2004, Page(s):3158 - 3163 vol.4
    Cited by:  Papers (21)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (522 KB) | HTML iconHTML

    Since sensors have limited range and coverage, mobile robots often have to make decisions on where to point their sensors. A good sensing strategy allows a robot to collect information that is useful for its tasks. Most existing solutions to this active sensing problem choose the direction that maximally reduces the uncertainty in a single state variable. In more complex problem domains, however, ... View full abstract»

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  • Multi-agent reinforcement learning: using macro actions to learn a mating task

    Publication Year: 2004, Page(s):3164 - 3169 vol.4
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (447 KB) | HTML iconHTML

    Standard reinforcement learning methods are inefficient and often inadequate for learning cooperative multi-agent tasks. For these kinds of tasks the behavior of one agent strongly depends on dynamic interaction with other agents, not only with the interaction with a static environment as in standard reinforcement learning. The success of the learning is therefore coupled to the agents' ability to... View full abstract»

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  • Distributed form closure for convex planar objects through reinforcement learning with local information

    Publication Year: 2004, Page(s):3170 - 3175 vol.4
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (355 KB) | HTML iconHTML

    Many real world applications would involve grasp of large objects in unstructured environments. Agent-based approach to multi-robot grasp of objects would prove useful under the above circumstances. In this paper, the problem of form closure grasp for planar convex objects by multiple robots is tackled. Contrary to the previous approaches, no a priori information about the shape of the object is a... View full abstract»

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  • Towards a reliable vision-based mobile robot formation control

    Publication Year: 2004, Page(s):3176 - 3181 vol.4
    Cited by:  Papers (13)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (469 KB) | HTML iconHTML

    In this article, a robot formation control strategy based on a vision-based follow-the-leader scenario is proposed, with emphasize on its reliability. On the one hand, perception is enhanced by the control of a motorized zoom. On the other hand, bidirectional and non-oblivious (Suzuki, I and Yamashita, M, 1996) control is implemented, with an odometry-based fault detection of vision-based informat... View full abstract»

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  • Follow-the-leader behaviour through optical flow minimization

    Publication Year: 2004, Page(s):3182 - 3187 vol.4
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (407 KB) | HTML iconHTML

    In this paper we present a mobile system for visual tracking, i.e., a mobile platform equipped with a TV camera, which is capable of following a human leader along complex trajectories. Differently from existing systems, which mainly rely on the detection of colour blobs or particular features/markers, our system is based on the detection of motion through optical flow computation, thus being impl... View full abstract»

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  • Fast and easy systematic and stochastic odometry calibration

    Publication Year: 2004, Page(s):3188 - 3194 vol.4
    Cited by:  Papers (14)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (479 KB) | HTML iconHTML

    A method of odometry calibration is proposed and validated which is designed to be as convenient as possible. Convenience is enhanced by reducing both the amount of software to be written and the amount of measurements to be made to a minimum. The path dependent nature of odometry can be exploited to reduce the amount of ground truth information to as little as a single known point. Existing odome... View full abstract»

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  • Path and viewpoint planning of mobile robots with multiple observation strategies

    Publication Year: 2004, Page(s):3195 - 3200 vol.4
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (441 KB) | HTML iconHTML

    In this paper, we propose a new path and viewpoint planning method for a mobile robot with multiple observation strategies. When a mobile robot works in the constructed environments such as indoor, it is very effective and reasonable to attach landmarks on the environment for the vision-based navigation. In that case, it is important for the robot to decide its motion automatically. Therefore, we ... View full abstract»

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  • Study on ankle mechanism for walking robots: development of 2 d.o.f. coupled drive ankle mechanism with wide motion range

    Publication Year: 2004, Page(s):3201 - 3206 vol.4
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (474 KB) | HTML iconHTML

    To accomplish high mobility and working performance, an active ankle mechanism with multi-degrees of freedom is required for multi-legged walking vehicle. In this paper, a novel active ankle mechanism with 2 degrees of freedom is proposed. This mechanism has large workspace, high mechanical strength and coupled driving system. View full abstract»

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  • Development of a power assisting system of a walking chair

    Publication Year: 2004, Page(s):3207 - 3212 vol.4
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (398 KB) | HTML iconHTML

    In this paper, we discuss the mechanism and control strategy of power assisting systems for the walking chair and then propose a new power assisting system. A power assisting system must reflect a human operator's intentions and control the assisting motors to generate required driving power. A power assisting system for the walking chair must provide a constant output velocity though human drivin... View full abstract»

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