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- Autonomous systems. (1)
- Behavior-Based Robots. (1)
- Behavior-based (1)
- Cognitive robotics (1)
- Formal verification (1)
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- Multi-robot Missions (1)
- Multi-robot exploration (1)
- Multi-robot exploration Potential field path-planning Autonomous systems (1)
- Navigation (1)
- Potential field path-planning (1)
- Probabilistic Verification (1)
- Robotics (1)
- Sensory fusion. (1)
- Validation (1)
- Visual homing; Visual navigation; Stereovision; Mobile robots; Computer vision. (1)
Articles 1 - 6 of 6
Full-Text Articles in Engineering
Thorough Exploration Of Complex Environments With A Space-Based Potential Field, Kenealy Alina, Nicholas Primiano, Alex Keyes, Lyons Damian
Thorough Exploration Of Complex Environments With A Space-Based Potential Field, Kenealy Alina, Nicholas Primiano, Alex Keyes, Lyons Damian
Faculty Publications
Robotic exploration, for the purposes of search and rescue or explosive device detection, can be improved by using a team of multiple robots. Potential field navigation methods offer natural and efficient distributed exploration algorithms in which team members are mutually repelled to spread out and cover the area efficiently. However, they also suffer from field minima issues. Liu and Lyons proposed a Space-Based Potential Field (SBPF) algorithm that disperses robots efficiently and also ensures they are driven in a distributed fashion to cover complex geometry. In this paper, the approach is modified to handle two problems with the original SBPF …
Homing With Stereovision, Paramesh Nirmal, Damian Lyons
Homing With Stereovision, Paramesh Nirmal, Damian Lyons
Faculty Publications
Visual Homing is a navigation method based on comparing a stored image of a goal location to the current image to determine how to navigate to the goal location. It is theorized that insects such as ants and bees employ visual homing techniques to return to their nest or hive, and inspired by this, several researchers have developed elegant robot visual homing algorithms. Depth information, from visual scale, or other modality such as laser ranging, can improve the quality of homing. While insects are not well equipped for stereovision, stereovision is an effective robot sensor. We describe the challenges involved …
Evaluation Of Parallel Reduction Strategies For Fusion Of Sensory Information From A Robot Team., Damian M. Lyons, Joseph Leroy
Evaluation Of Parallel Reduction Strategies For Fusion Of Sensory Information From A Robot Team., Damian M. Lyons, Joseph Leroy
Faculty Publications
The advantage of using a team of robots to search or to map an area is that by navigating the robots to different parts of the area, searching or mapping can be completed more quickly. A crucial aspect of the problem is the combination, or fusion, of data from team members to generate an integrated model of the search/mapping area. In prior work we looked at the issue of removing mutual robots views from an integrated point cloud model built from laser and stereo sensors, leading to a cleaner and more accurate model. This paper addresses a further challenge: Even …
Leveraging Area Bounds Information For Autonomous Decentralized Multi-Robot Exploration, Tsungming Liu, Damian Lyons
Leveraging Area Bounds Information For Autonomous Decentralized Multi-Robot Exploration, Tsungming Liu, Damian Lyons
Faculty Publications
This paper proposes a simple and uniform, decentralized approach to the problem of dispersing a team of robots to explore an area quickly. The Decentralized Space-Based Potential Field (D-SBPF) algorithm is a potential field approach that leverages knowledge of the overall bounds of the area to be explored. It includes a monotonic coverage factor in the potential field to avoid minima, realistic sensor bounds, and a distributed map exchange protocol. The D-SBPF approach yields a simple potential field control strategy for all robots but nonetheless has good dispersion and overlap performance in exploring areas with convex geometry while avoiding potential …
Performance Verification For Behavior-Based Robot Missions, Damian M. Lyons, Ron Arkin, Shu Jiang, Tsungming Liu, Paramesh Nirmal
Performance Verification For Behavior-Based Robot Missions, Damian M. Lyons, Ron Arkin, Shu Jiang, Tsungming Liu, Paramesh Nirmal
Faculty Publications
Certain robot missions need to perform predictably in a physical environment that may have significant uncertainty. One approach is to leverage automatic software verification techniques to establish a performance guarantee. The addition of an environment model and uncertainty in both program and environment, however, means the state-space of a model-checking solution to the problem can be prohibitively large. An approach based on behavior-based controllers in a process-algebra framework that avoids state-space combinatorics is presented here. In this approach, verification of the robot program in the uncertain environment is reduced to a filtering problem for a Bayesian Network. Validation results are …
Probabilistic Verification Of Multi-Robot Missions In Uncertain Environments, Damian M. Lyons, Ronald Arkin, Shu Jiang, Dagan Harrington, Feng Tang, Peng Tang
Probabilistic Verification Of Multi-Robot Missions In Uncertain Environments, Damian M. Lyons, Ronald Arkin, Shu Jiang, Dagan Harrington, Feng Tang, Peng Tang
Faculty Publications
The effective use of autonomous robot teams in highly-critical missions depends on being able to establish performance guarantees. However, establishing a guarantee for the behavior of an autonomous robot operating in an uncertain environment with obstacles is a challenging problem. This paper addresses the challenges involved in building a software tool for verifying the behavior of a multi-robot waypoint mission that includes uncertain environment geometry as well as uncertainty in robot motion. One contribution of this paper is an approach to the problem of a-priori specification of uncertain environments for robot program verification. A second contribution is a novel method …