Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)

20-20 May 1998

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  • Proceedings 1998 IEEE International Conference On Robotics And Automation

    Publication Year: 1998, Page(s):i - li
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    Freely Available from IEEE
  • Author index

    Publication Year: 1998, Page(s):liii - lxv
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    Freely Available from IEEE
  • Panoramic-environmental description as robots' visual short-term memory

    Publication Year: 1998, Page(s):3253 - 3258 vol.4
    Cited by:  Papers (1)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (600 KB)

    In this paper, we propose an environmental description for robots to memorize temporality and spatiality of wide-range environment. The description is region-based and the environment is described as a mosaic of regions. The description consists of three components: panoramic labelled image that is a segmented color panoramic image, region database that has spatial and temporal information about e... View full abstract»

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  • Zoom tracking

    Publication Year: 1998, Page(s):2783 - 2788 vol.4
    Cited by:  Papers (14)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (544 KB)

    In this paper we present a new active vision technique called zoom tracking. Zoom tracking is the continuous adjustment of a camera's focal length, to keep a constant-sized image of an object moving along the camera's optical axis. Two methods for performing zoom tracking are presented: a closed-loop visual feedback algorithm based on optical flow, and use of depth information obtained from an aut... View full abstract»

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  • Pipelined sampling techniques for sonar tracking systems

    Publication Year: 1998, Page(s):2813 - 2818 vol.4
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (536 KB)

    Introduces fast sampling strategies for pulse-echo time-of-flight sonar using time multiplexing. As a result, multiple interlaced measurement streams are employed to achieve high sampling rates without sacrificing range accuracy. The method considers receiver blanking constraints caused by imperfect acoustic decoupling between transmitter and receivers. Furthermore, uncertainties due to measuremen... View full abstract»

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  • Mobile robot localization in dynamic environments using places recognition

    Publication Year: 1998, Page(s):3135 - 3140 vol.4
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (464 KB)

    We present a new method to localize a mobile robot in dynamic environments. This method is based on place recognition, and a match between places recognized and the sequence of places that the mobile robot is able to see during a run from an initial place to an ending place. Our method gives a coarse idea of the robot's position and orientation. Moreover, the robot can determine the actual state o... View full abstract»

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  • Flexible 3D acquisition with a monocular camera

    Publication Year: 1998, Page(s):2771 - 2776 vol.4
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (912 KB)

    One of the key problems for robots and autonomous vehicles is the acquisition of 3D information about their environment. In this paper a flexible technique for 3D acquisition is proposed. This technique only requires an uncalibrated monocular camera. No prior knowledge about the scene or about the camera is necessary to build metric 3D models of the environment. In addition zoom and focus can be u... View full abstract»

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  • Mobile robot sonar sensing with pseudo-random codes

    Publication Year: 1998, Page(s):2807 - 2812 vol.4
    Cited by:  Papers (19)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (588 KB)

    One of the most severe problems in conventional mobile robot sonar sensing is from the literature known as crosstalk. This article addresses the crosstalk problem and presents first experimental results of a new approach which allows the simultaneous firing of sonar sensors. At the same time frequent misreadings caused by crosstalk or external ultrasound sources are eliminated. Moreover, the range... View full abstract»

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  • Fundamental control concepts for implementation of transmission-based actuators in robotics and automation

    Publication Year: 1998, Page(s):3594 - 3600 vol.4
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (708 KB)

    This paper is a continued investigation of a new concept for extending the payload-power range of electrical servoactuators. The fundamental idea is to combine small, high power motors with multispeed or continuously variable transmissions such that the effective torque-speed characteristics of the motor are “spread” across a wider output speed range. This has the effect of allowing sm... View full abstract»

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  • A practical approach to feedback control for a mobile robot with trailer

    Publication Year: 1998, Page(s):3291 - 3296 vol.4
    Cited by:  Papers (23)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (572 KB)

    This paper presents a robust method to control a mobile robot towing a trailer. Both problems of trajectory tracking and steering to a given configuration are addressed. This second issue is solved by an iterative trajectory tracking. Perturbations are taken into account along the motions. Experimental results on the mobile robot Hilare illustrate the validity of our approach View full abstract»

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  • Hybrid, high-precision localisation for the mail distributing mobile robot system MOPS

    Publication Year: 1998, Page(s):3129 - 3134 vol.4
    Cited by:  Papers (11)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (716 KB)

    Describes the new localisation algorithms under implementation for the mail distributing mobile robot, MOPS, of the Institute of Robotics, Swiss Federal Institute of Technology Zurich. Using geometric primitives as features, we employ consistent probabilistic feature extraction, clustering, matching and estimation of the vehicle position and orientation. The extracted features and their first-orde... View full abstract»

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  • A high speed 3D radar scanner for automation

    Publication Year: 1998, Page(s):2777 - 2782 vol.4
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (652 KB)

    A high speed three dimensional radar scanner capable of providing the high resolution range maps necessary for outdoor mobile robotic vehicles is described in this paper. Unlike traditional laser rangefinder based scanners, this sensor is intended to operate in real world environments plagued with dust, fog, and rain. The 94 GHz pulsed time-of-flight radar system has a peak repetition rate of 250 ... View full abstract»

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  • Perception of an indoor robot workspace by using CTFM sonar imaging

    Publication Year: 1998, Page(s):2801 - 2806 vol.4
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (500 KB)

    Ultrasonic sensors have been widely used as time-of-flight range finding systems in mobile robots. Different variations of this scheme lead to robust identification of simple reflector types, like walls, corners and edges. In this paper an alternative approach is attempted, able not only to locate and identify simple reflectors, but to detect and recognize more complicated objects. A more sophisti... View full abstract»

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  • Path planning and role selection mechanism for soccer robots

    Publication Year: 1998, Page(s):3216 - 3221 vol.4
    Cited by:  Papers (9)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (440 KB)

    A real time vector field based path planning for an attack mode robot and a Petri net state diagram approach for the robot's role selection for robot soccer games are proposed in the paper. A robot soccer game has a dynamic environment as different robots intentionally affect the environment in unpredictable ways in a competitive setting. A soccer-playing robot has to take appropriate action accor... View full abstract»

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  • Path planner for nonholonomic mobile robot with fast replanning procedure

    Publication Year: 1998, Page(s):3588 - 3593 vol.4
    Cited by:  Papers (15)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (608 KB)

    This paper presents a new method of the path planning for robots with nonholonomic constraints in a partially known workspace. The method has been discussed for the car like robot with the three dimensional configuration space. The algorithm of the presented method is based on a A* graph searching with nodes placed in discretised configuration space. The graph generation process is driven by a heu... View full abstract»

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  • Adaptive motion control of a nonholonomic vehicle

    Publication Year: 1998, Page(s):3285 - 3290 vol.4
    Cited by:  Papers (15)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (456 KB)

    The stabilization of the motion of a nonholonomic vehicle is considered. The control system developed has a two-level architecture. The lower control level operates within the kinematic model of the vehicle to stabilize its motion to a desired trajectory. The upper control level uses the dynamic model of the vehicle and stabilizes the feedback obtained on the lower control level. The operation of ... View full abstract»

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  • A unified distributed cooperation strategy for multiple object handling robots

    Publication Year: 1998, Page(s):3625 - 3630 vol.4
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (612 KB)

    Based on the constrain-move concept, previously introduced by the authors (1997), a unified approach to develop cooperation strategies for a group of multiple robots to lift/lower the object and to carry it along a desired path is introduced. In this method, when transferring the load, a group of robots, called constrain making robots, constrain the object's movements which are orthogonal to its d... View full abstract»

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  • Position estimation using principal components of range data

    Publication Year: 1998, Page(s):3121 - 3128 vol.4
    Cited by:  Papers (35)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (712 KB)

    Describes an approach to mobile robot position estimation based on principal component analysis of laser range data. An eigenspace is constructed from the principal components of a large number of range data sets. The structure of an environment, as seen by a range sensor, is represented as a family of surfaces in this space. Subsequent range data sets from the environment project as a point in th... View full abstract»

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  • Teleoperation system via computer network for dynamic environment

    Publication Year: 1998, Page(s):3534 - 3539 vol.4
    Cited by:  Papers (23)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (508 KB)

    A teleoperation system in a dynamic environment with varying communication time delay is proposed, which consists of three subsystems; a bilateral teleoperation subsystem, a visual information subsystem, and an environment predictive display subsystem. The bilateral teleoperation subsystem is stabilized using the virtual time delay method. The visual information subsystem transfers the visual info... View full abstract»

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  • Autonomous sensor planning for 3D reconstruction of complex objects from range images

    Publication Year: 1998, Page(s):3085 - 3090 vol.4
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (664 KB)

    Presents a technique for determining a small set of views that allow the observation and acquisition of the surfaces of the objects present in a target scene through a range sensor that moves over a sphere containing that scene. No a priori knowledge about the shape of those objects is assumed. Instead of applying costly visibility analysis techniques from the beginning as in most previous approac... View full abstract»

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  • Rapid 3-D digitizing and tool path generation for complex shapes

    Publication Year: 1998, Page(s):2789 - 2794 vol.4
    Cited by:  Papers (6)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (484 KB)

    A system for automatic tool path generation was developed at Sandia National Laboratories for finish machining operations. The system consists of a commercially available 5-axis milling machine controlled by Sandia developed software. This system was used to remove overspray on cast turbine blades. A laser-based, structured-light sensor, mounted on a tool holder, is used to collect 3D data points ... View full abstract»

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  • Toward real-time 2D localization in outdoor environments

    Publication Year: 1998, Page(s):2827 - 2832 vol.4
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (668 KB)

    We present an approach to refine the pose estimate of an outdoor mobile robot evolving on flat terrains cluttered with obstacles. We propose an algorithm to extract relevant obstacle contour lines on the basis of stereo-vision data. The algorithm is very robust with respect to the uncertainties on the data, and do not require a very fine and precise obstacle extraction procedure. We explain how th... View full abstract»

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  • Motion planning of a wheeled mobile robot with slip-free motion capability on a smooth uneven surface

    Publication Year: 1998, Page(s):3727 - 3732 vol.4
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (612 KB)

    The motion of a wheeled mobile robot on uneven terrain leads to asymmetry in the position of the wheel-terrain contact locations. This asymmetry has important kinematic and dynamic implications for several of the wheeled mobile robots studied in literature. It leads to kinematic slipping at the wheel-ground contacts-this slip is required for the vehicle to possess functional mobility. This slip le... View full abstract»

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  • Evaluation on flexibility of swarm intelligent system

    Publication Year: 1998, Page(s):3210 - 3215 vol.4
    Cited by:  Papers (9)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (516 KB)

    Many studies on swarm intelligent systems have been presented. However, analytical treatment on swarm intelligence has not been performed sufficiently, because of difficulties in finding general criteria to evaluate system performance. In this paper, we regard flexibility as one property of the robustness, and evaluate the flexibility of swarm intelligent systems. We propose indexes to evaluate th... View full abstract»

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  • Minimum-deflection grasps and fixtures

    Publication Year: 1998, Page(s):3322 - 3328 vol.4
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (804 KB)

    This paper presents an approach to planning compliant grasps and fixtures in which the object exhibits minimal deflection under external disturbances. The approach, which applies to general two- and three-dimensional grasps and fixtures represented by any quasi-rigid compliance model, employs a quality measure that characterises the grasped or fixtured object's worst-case deflection caused by dist... View full abstract»

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