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Autonomous Mobile Robots Designing
Dr. V. M. Murthy (Director)
Journal of Global Research in Computer Science , 2011,
Abstract: This paper presents the overview of robotics and related technologies. Also describes the architecture of robots such as software and hardware requirements. In this paper we give the detail discussion about the autonomous robotics, design, control and applications. This paper presents design concepts and guidelines for implementing an autonomous robot.
Autonomous Deployment and Restoration of Sensor Network using Mobile Robots
Tsuyoshi Suzuki,Ryuji Sugizaki,Kuniaki Kawabata,Yasushi Hada
International Journal of Advanced Robotic Systems , 2010,
Abstract: This paper describes an autonomous deployment and restoration of a Wireless Sensor Network (WSN) using mobile robots. The authors have been developing an information-gathering system using mobile robots and WSNs in underground spaces in post-disaster environments. In our system, mobile robots carry wireless sensor nodes (SN) and deploy them into the environment while measuring Received Signal Strength Indication (RSSI) values to ensure communication, thereby enabling the WSN to be deployed and restored autonomously. If the WSN is disrupted, mobile robots restore the communication route by deploying additional or alternate SNs to suitable positions. Utilizing the proposed method, a mobile robot can deploy a WSN and gather environmental information via the WSN. Experimental results using a verification system equipped with a SN deployment and retrieval mechanism are presented.
Ontology-based collaborative framework for disaster recovery scenarios  [PDF]
Sakkaravarthi Ramanathan,Aymen Kamoun,Khalil Drira,Christophe Chassot
Computer Science , 2012,
Abstract: This paper aims at designing of adaptive framework for supporting collaborative work of different actors in public safety and disaster recovery missions. In such scenarios, firemen and robots interact to each other to reach a common goal; firemen team is equipped with smart devices and robots team is supplied with communication technologies, and should carry on specific tasks. Here, reliable connection is mandatory to ensure the interaction between actors. But wireless access network and communication resources are vulnerable in the event of a sudden unexpected change in the environment. Also, the continuous change in the mission requirements such as inclusion/exclusion of new actor, changing the actor's priority and the limitations of smart devices need to be monitored. To perform dynamically in such case, the presented framework is based on a generic multi-level modeling approach that ensures adaptation handled by semantic modeling. Automated self-configuration is driven by rule-based reconfiguration policies through ontology.
Flocking algorithm for autonomous flying robots  [PDF]
Csaba Virágh,Gábor Vásárhelyi,Norbert Tarcai,Tamás Sz?rényi,Gerg? Somorjai,Tamás Nepusz,Tamás Vicsek
Physics , 2013, DOI: 10.1088/1748-3182/9/2/025012
Abstract: Animal swarms displaying a variety of typical flocking patterns would not exist without underlying safe, optimal and stable dynamics of the individuals. The emergence of these universal patterns can be efficiently reconstructed with agent-based models. If we want to reproduce these patterns with artificial systems, such as autonomous aerial robots, agent-based models can also be used in the control algorithm of the robots. However, finding the proper algorithms and thus understanding the essential characteristics of the emergent collective behaviour of robots requires the thorough and realistic modeling of the robot and the environment as well. In this paper, first, we present an abstract mathematical model of an autonomous flying robot. The model takes into account several realistic features, such as time delay and locality of the communication, inaccuracy of the on-board sensors and inertial effects. We present two decentralized control algorithms. One is based on a simple self-propelled flocking model of animal collective motion, the other is a collective target tracking algorithm. Both algorithms contain a viscous friction-like term, which aligns the velocities of neighbouring agents parallel to each other. We show that this term can be essential for reducing the inherent instabilities of such a noisy and delayed realistic system. We discuss simulation results about the stability of the control algorithms, and perform real experiments to show the applicability of the algorithms on a group of autonomous quadcopters.
Scenarios of disaster, visions of liberation  [cached]
Steven Best
Revista Theomai , 2004,
Abstract: As the planet spirals ever deeper into social and natural disaster, with all things becoming ever more tightly knit into the tentacles of global capitalism, there is an urgent need for new maps and compasses to help steer us into a viable mode of existence. Karl Marx′s 1843 call for a ruthless criticism of everything existing has never been more urgent and appropriate, but all too often today critique is merely academic, stratospheres away from concrete action and progressive social policies. Yet, social critique and change in the slaughterhouse of capitalism needs to be guided and informed by powerful descriptions of what is -- the degraded forfeiture of human potential in a world where over a billion people struggle for mere existence -- but also by bold new visions of what can be, imaginative projections of how human beings might harmoniously relate to one another and the living/dying earth
Quantifying Emergent Behavior of Autonomous Robots  [PDF]
Georg Martius,Eckehard Olbrich
Computer Science , 2015,
Abstract: Quantifying behaviors of robots which were generated autonomously from task-independent objective functions is an important prerequisite for objective comparisons of algorithms and movements of animals. The temporal sequence of such a behavior can be considered as a time series and hence complexity measures developed for time series are natural candidates for its quantification. The predictive information and the excess entropy are such complexity measures. They measure the amount of information the past contains about the future and thus quantify the nonrandom structure in the temporal sequence. However, when using these measures for systems with continuous states one has to deal with the fact that their values will depend on the resolution with which the systems states are observed. For deterministic systems both measures will diverge with increasing resolution. We therefore propose a new decomposition of the excess entropy in resolution dependent and resolution independent parts and discuss how they depend on the dimensionality of the dynamics, correlations and the noise level. For the practical estimation we propose to use estimates based on the correlation integral instead of the direct estimation of the mutual information using the algorithm by Kraskov et al. (2004) which is based on next neighbor statistics because the latter allows less control of the scale dependencies. Using our algorithm we are able to show how autonomous learning generates behavior of increasing complexity with increasing learning duration.
Autonomous robots and the SP theory of intelligence  [PDF]
J. Gerard Wolff
Computer Science , 2014, DOI: 10.1109/ACCESS.2014.2382753
Abstract: This article is about how the "SP theory of intelligence" and its realisation in the "SP machine" (both outlined in the article) may help to solve computer-related problems in the design of autonomous robots, meaning robots that do not depend on external intelligence or power supplies, are mobile, and are designed to exhibit as much human-like intelligence as possible. The article is about: how to increase the computational and energy efficiency of computers and reduce their bulk; how to achieve human-like versatility in intelligence; and likewise for human-like adaptability in intelligence. The SP system has potential for substantial gains in computational and energy efficiency and reductions in the bulkiness of computers: by reducing the size of data to be processed; by exploiting statistical information that the system gathers; and via an updated version of Donald Hebb's concept of a "cell assembly". Towards human-like versatility in intelligence, the SP system has strengths in unsupervised learning, natural language processing, pattern recognition, information retrieval, several kinds of reasoning, planning, problem solving, and more, with seamless integration amongst structures and functions. The SP system's strengths in unsupervised learning and other aspects of intelligence may help to achieve human-like adaptability in intelligence via: the learning of natural language; learning to see; building 3D models of objects and of a robot's surroundings; learning regularities in the workings of a robot and in the robot's environment; exploration and play; learning major skills; and secondary forms of learning. Also discussed are: how the SP system may process parallel streams of information; generalisation of knowledge, correction of over-generalisations, and learning from dirty data; how to cut the cost of learning; and reinforcements, motivations, goals, and demonstration.
Review of Speculative "Disaster Scenarios" at RHIC  [PDF]
R. L. Jaffe,W. Busza,J. Sandweiss,F. Wilczek
Physics , 1999, DOI: 10.1103/RevModPhys.72.1125
Abstract: We discuss speculative disaster scenarios inspired by hypothetical new fundamental processes that might occur in high energy relativistic heavy ion collisions. We estimate the parameters relevant to black hole production; we find that they are absurdly small. We show that other accelerator and (especially) cosmic ray environments have already provided far more auspicious opportunities for transition to a new vacuum state, so that existing observations provide stringent bounds. We discuss in most detail the possibility of producing a dangerous strangelet. We argue that four separate requirements are necessary for this to occur: existence of large stable strangelets, metastability of intermediate size strangelets, negative charge for strangelets along the stability line, and production of intermediate size strangelets in the heavy ion environment. We discuss both theoretical and experimental reasons why each of these appears unlikely; in particular, we know of no plausible suggestion for why the third or especially the fourth might be true. Given minimal physical assumptions the continued existence of the Moon, in the form we know it, despite billions of years of cosmic ray exposure, provides powerful empirical evidence against the possibility of dangerous strangelet production.
Geometric Analysis of the Formation Problem for Autonomous Robots  [PDF]
Florian Dorfler,Bruce Francis
Mathematics , 2010,
Abstract: In the formation control problem for autonomous robots a distributed control law steers the robots to the desired target formation. A local stability result of the target formation can be derived by methods of linearization and center manifold theory or via a Lyapunov-based approach. It is well known that there are various other undesired invariant sets of the robots' closed-loop dynamics. This paper addresses a global stability analysis by a differential geometric approach considering invariant manifolds and their local stability properties. The theoretical results are then applied to the well-known example of a cyclic triangular formation and result in instability of all invariant sets other than the target formation.
A Voice Guiding System for Autonomous Robots
Brahim Boulebtateche,Mohamed Fezari,Mouldi Bedda
Asian Journal of Information Technology , 2012,
Abstract: In this study , a voice guidance system for autonomous robots is designed based on microcontroller. The proposed system consists of a microcontroller and a voice recognition processor that can recognize a limited number of voice patterns. The commands of autonomous robots are classified and organized such that one voice recognition processor can distinguish robot commands under each class. Thus, the proposed system can distinguish more voice commands than one voice recognition processor can. A voice command system for three autonomous robots is implemented with a microcontroller from Microchip PIC16F876, a voice recognition processor RSC364 from Sensory and a set of Infra-red emitters- receivers. A proposal is also outlined for integrating the voice command system into a reinforcement learning scheme in order to enhance the performance of learning task by autonomous robots. This work and design have taken 10 months, starting on january 2004.
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